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feature based slam mapping

asked 2014-08-07 07:29:52 -0500

cognitiveRobot gravatar image

updated 2014-08-08 04:12:56 -0500

sai gravatar image

Hi there,

Is there any ROS package for feature/landmark based SLAM that can work with laser and odometry information?

Can you give me any advice?

I appreciate your reply.

Best regards


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answered 2014-08-07 07:53:05 -0500

I´m not aware of a existing ROS implementation that is ready to use. This is likely also related to the fact that LIDAR/grid map based approaches work very well in most environments used with robots. I´d recommend taking a look at You´ll find quite a few approaches there and it sounds like a combination of FLIRTLib with some feature based estimation approach (like your own EKF, CEKFSLAM, this EKF or one of the pose graph implementations available there) would be an option for implementation.

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Thanks stefan. I appreciate your reply. I know about openslam. Those EKF slam are implemented in matlab. FLIRTLib uses image. but i have to use for LASER and I was looking for ROS node or C++ code.

cognitiveRobot gravatar image cognitiveRobot  ( 2014-08-07 18:46:02 -0500 )edit

Hi Stefan, Did you use EKF-SLAM (provided by Tim Bailey)? I can use his matlab simulator. I works where features are points. Do you know whether it works with line features instead of the point features?

cognitiveRobot gravatar image cognitiveRobot  ( 2014-08-07 20:52:07 -0500 )edit

answered 2014-08-07 11:10:05 -0500

sai gravatar image is a great resource as mentioned before.

Specifically in ROS, the one that work out of the box is


OMNIMAPPER has been proposed recently.

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Thanks sai, I'm using gmapping for a while. Now I need to use line feature based SLAM to compare with my result. I'm going through OMNIMAPPER to see whether it does.

cognitiveRobot gravatar image cognitiveRobot  ( 2014-08-07 20:53:49 -0500 )edit

You can look at these publications

A. J. B. Trevor, J. G. Rogers III, H. I. Christensen, “OmniMapper: A modular multimodal mapping framework”, ICRA, 2014 [pdf].

A. J. B. Trevor, J. G. Rogers III, H. I. Christensen, “Planar Surface SLAM with 3D and 2D Sensors”, ICRA, 2012. [pdf]

sai gravatar image sai  ( 2014-08-07 20:58:01 -0500 )edit

Thanks sai for those papers. Looking like that's what i'm looking for. Did you use the OmniMapper??

cognitiveRobot gravatar image cognitiveRobot  ( 2014-08-07 23:10:15 -0500 )edit

No, I didn't use it. Once you have successfully used it, you can share your experiences.

sai gravatar image sai  ( 2014-08-08 00:44:36 -0500 )edit

Ok. If i manage to use it then i will share my experience.

cognitiveRobot gravatar image cognitiveRobot  ( 2014-08-08 20:33:56 -0500 )edit

It seems that Omnimapper cannot compile... Has anyone successfully compiled it?

Lili Meng gravatar image Lili Meng  ( 2014-10-29 16:48:58 -0500 )edit

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Asked: 2014-08-07 07:29:52 -0500

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Last updated: Aug 08 '14