ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | Q&A
Ask Your Question

Vector field histogram.

asked 2011-06-05 14:43:20 -0500

lakshmen gravatar image

updated 2016-10-24 08:33:18 -0500

ngrennan gravatar image

Any of you have used vector field histogram?I am trying to combine the Kinect and the vector field histogram but not sure how to do it. Any help would be appreciated.

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2011-06-07 01:11:07 -0500

VFH has been designed to work with planar sensors, like a laser or a sonar. If you really want to use it with a Kinect, you need to project all the points on a plane which is parallel to the robot base (more or less where a laser would be) and then treat this points as laser readings. This could be as easy as removing the z component of the points if the robot does not tilt (most indoor robots don't). If you really want to mimic the laser input to the vfh you can calculate for each point:

range = sqrt(x^2 + y^2)

angle = atan2(y,x)

and that is the closest you can get to a laser. Beware that you might need to filter the Kinect pointcloud as it can be very noisy.

edit flag offensive delete link more


thanks....will try it...
lakshmen gravatar image lakshmen  ( 2011-06-07 21:12:30 -0500 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools


Asked: 2011-06-05 14:43:20 -0500

Seen: 1,071 times

Last updated: Jun 07 '11