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vslam beginner

asked 2011-08-03 22:52:08 -0500

Prasad gravatar image

updated 2011-08-03 23:08:19 -0500

Hello all,

I am using vslam package first time. We have done 2D mapping gmapping to generate a static map. Now, our plan is to generate a 3D static map using a VSLAM. Is it possible to generate a static 3D map using VSLAM? If yes, then what are the steps to do so?

I have gone through SBA and VSLAM packages but unable to understand the process. We have Minoru stereo cam by which we can generate rectified images left/ right and can give it to vslam.

I also tried the sba tutorial. I get below error while compiling the package.

/usr/bin/ld: cannot find -lsba_ros

collect2: ld returned 1 exit status

make[3]: * [../bin/sba_from_file] Error 1

make[2]: * [CMakeFiles/sba_from_file.dir/all] Error 2


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There are two questions here ("how do I use vslam?" and "why won't it compile"?) You should break these into two questions. (Also, there are a great many vslam-related questions here; have you read through those?)
Mac gravatar image Mac  ( 2011-08-08 06:51:05 -0500 )edit

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answered 2011-09-02 11:12:13 -0500

Helen gravatar image

vslam is experimental research code. It is not actively being supported, and should be used at your own risk, but patches are welcome.

If you would like a robust method of localization and mapping with a stereo camera or kinect, use the 2D slam_gmapping stack. See the pointcloud_to_laserscan package from the turtlebot stack and the SLAM Gmapping with Kinect Tutorial for the turtlebot.

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Asked: 2011-08-03 22:52:08 -0500

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Last updated: Sep 02 '11