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 | 1 | initial version |
Depending on what you do it might even be enough to localize and navigate, this can be done to some degree from a floorplan map and scanmatching (LIDAR) in AMCL. Nice Video and Software link for creating pgm and yaml map from "pictures"/plans. Slam might not be needed in your case.
| | 2 | No.2 Revision |
Depending on what you do it might even be enough to localize and navigate, this can be done to some degree from a floorplan map and scanmatching (LIDAR) in AMCL. Nice Video and Software link for creating pgm and yaml map from "pictures"/plans. Slam might not be needed in your case.
https://www.youtube.com/watch?v=ySlU5CIXUKE
Regarding the stair problem. To be safe you need additional sensors because light based sensors have problems with reflective surfaces and transparency. Depending on the floor they might get problems. But if that isnt the issus. RTABMAP (from depth image) has nice features, like obstacle-map, clear-space-map etc. Doesnt have testet negative height obstacles yet, but for sure that should be possible.
| | 3 | No.3 Revision |
Depending on what you do it might even be enough to localize and navigate, this can be done to some degree from a floorplan map and scanmatching (LIDAR) in AMCL. Nice Video and Software link for creating pgm and yaml map from "pictures"/plans. Slam might not be needed in your case.
https://www.youtube.com/watch?v=ySlU5CIXUKE
Regarding the stair problem. To be safe you need additional sensors because light based sensors have problems with reflective surfaces and transparency. Depending on the floor they might get problems. But if that isnt the issus. RTABMAP (from depth image) has nice features, like obstacle-map, clear-space-map etc. Doesnt have testet negative height obstacles yet, but for sure that should be possible.possible. RTABMAP also provides visual odometry and SLAM. Needs some computation power though.
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