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It's definitely technically complex. But there is a CCNY's experimental stack in which there is a package called kinect_pose_est. Works as presented here. There is a paper to it, see: http://robotics.ccny.cuny.edu/blog/People/Dryanovski , guess it's the number 1 paper. Hope it helps.

Clone the package via:

git clone http://robotics.ccny.cuny.edu/git/ccny-ros-pkg/ccny_experimental.git

Regards.

It's definitely technically complex. But if you're just looking for an implementation, there is a CCNY's experimental stack in which there is a package called kinect_pose_est. Works as presented here. There is a paper to it, see: http://robotics.ccny.cuny.edu/blog/People/Dryanovski , guess it's the number 1 paper. Hope it helps.

Clone the package via:

git clone http://robotics.ccny.cuny.edu/git/ccny-ros-pkg/ccny_experimental.git

Regards.

It's definitely technically complex. But if you're just looking for an implementation, there is a CCNY's experimental stack in which there is a package called kinect_pose_est. Works as presented here. There is a paper to it, see: http://robotics.ccny.cuny.edu/blog/People/Dryanovski , guess it's the number 1 paper. Hope it helps.

Clone the package via:

git clone http://robotics.ccny.cuny.edu/git/ccny-ros-pkg/ccny_experimental.git

Also see this question: http://answers.ros.org/question/502/how-to-use-canonical_scan_matcher-with-kinect

Regards.