Create Semantic Maps using RGBDSLAM + OctoMaps?
I'm interested in using RGBDSLAM and OctoMaps with the Kinect camera to create 3D maps. Using generated 3D maps and combining it with object recognition code I've written using OpenCV, I would like to create semantic maps of the environment. For clarity, when I say semantic maps, I just mean having maps are able to highlight or pinpoint recognized objects in the environment.
I hope to do this in 'real-time' - it would be nice if the final product was able to update at a rate of at least 5Hz on my dual-core laptop.
I'm new to ROS/ RGBDSLAM/ OctoMaps so I was wondering whether anyone can provide feedback or suggestions? Is there anything I should watch out for? Are there any easier ways of going about this? Is this in fact possible!?
As far as I can tell from my research, this is the best way to go about this.
I'm also open to suggestion for 2D maps as well, although would prefer 3D at this stage.