Can I use 2d lidar with stereo camera to create a 3D map?
Hi everyone,
I am using 2 logitech cameras to create a stereo camera. With this camera, I am able to create 3D map of the surrounding using RTABMAP. But I also have a 2D lidar which I want to use, to improve the precision of my map and later help me during navigation. But I could not find any package that takes either laser scan or laser pointcloud and use it with stereo to give me a 3D map. Is it possible to combine these two data? If yes, can anyone suggest me some package for such arrangement ?
Can you detail more on how you place the lidar? You may look at this post: http://official-rtab-map-forum.67519....
I have sick pls 101-312 laser scanner. It is currently mounted horizontally on the robot. There is no rotating or tilting mechanism for the laser scanner.
See http://wiki.ros.org/rtabmap_ros/Tutor... , in particular
subscribe_scan
parameter andscan
remapping. You can replacergbd_sync
nodelet bystereo_sync
to use with a stereo camera.Thank you. I can now use the laser scan with RTAB Map, but i quite do not understand how it uses Laser scan during the mapping?
By default, it will use them for the occupancy grid generation. To use them to refine odometry and loop closures, see description of RTAB-Map's parameters in the tutorial. For more info, see this paper.