viso2_ros, 2 Raspberry Pi with Cameras

asked 2014-09-17 09:06:18 -0500

plunder gravatar image

updated 2014-09-17 15:00:16 -0500

Hello all,

I am looking to add SLAM to my robotics project, I'm looking for confirmation/suggestions that my particular setup will work.

Using viso2_ros, and 2 raspberry pis connected via crossover cable both running ROS. One Pi broadcasts a left eye camera topic, the other broadcasts a right eye camera topic. Now clearly these won't be perfectly synced images, I saw that viso2_ros has a stereo odometry parameter 'approximate_sync'.

1. Will this setup be at all decent using this 'approximate_synx=true'? 
2. Does anyone see potential issues with having 2 boards with 512RAM with SLAM? 
3. Should I have 2 wide angle lens for this? 90-150degrees? What would work best?

In light of Stephans comment, what addition package could I use to achieve SLAM with this kind of setup?

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Please note that viso2_ros does not do SLAM. It will not build up a map and localize in it. It's "just" visual odometry (=relative motion from t to t+1).

Stephan gravatar image Stephan  ( 2014-09-17 12:43:36 -0500 )edit