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When using rgbdslam I'd assume that the computational limitations on the UAV and the bandwidth limitation could be a problem. This could be addressed, by sending only (downsampled?) monochrome (do you need color?) and depth image over wireless, do registration and backprojection offboard (and change the pcl-point type used by rgbdslam to XYZ only plus some changes in the UI do adapt to monochrome).

Also, rgbdslam has no motion model yet, so you would need to code the integration of the imu data. You could just integrate another subscriber-callback, that integrates all imu readings and, on insertion of a kinect frame to the pose graph, adds an edge that represents the summed up transformation with an appropriate information matrix.