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There are many possible ways to build your pipeline. However, there are several tools that already exist in ROS, to get you started:

  • viso2_ros: A library for visual odometry from a monocular camera
  • laser_scan_matcher: A tool for laser-based odometry via scan matching
  • hector_mapping: A tool for laser-based odometry and SLAM
  • robot_pose_ekf: An EKF filter capable of fusing different odometry sources
  • gmapping: A laser-based algorithm for SLAM, requiring an odometric estimate

The general pipeline is to gather available sources of odometry (laser, camera, wheels, IMU) and fuse them using the EKF filter. Next, feed the fused output, together with laser scans, to a SLAM/mapping algorithm, in order to build a metric grid map.