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Is there any SLAM method based on Octomap representation?

asked 2014-10-09 09:35:59 -0600

AliAs gravatar image

updated 2014-10-09 11:06:47 -0600

I know what I am saying here is not precise.I know Octomap is a 3D occupancy grid mapping approach based on an octree and there are some SLAM methods that works based on 2D occupancy grids. E.g. Gmapping: a 2D grid-based SLAM algorithm that provides a 2-D occupancy grid map from laser and pose data collected by a mobile robot and Hector SLAM: a 2D grid-based SLAM algorithm that provides a 2-D occupancy grid map using combination of high update 2D mapping and 6DOF pose estimation.

I wanted to know is there any available package (or publication) that tries to use octomap representation to tackle SLAM problem?

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answered 2014-10-09 15:06:02 -0600

slamonline gravatar image

updated 2014-10-10 07:03:39 -0600

bvbdort gravatar image

Yes there is, you can see here :


F. Endres, J. Hess, J. Sturm, D. Cremers, and W. Burgard. 3-d mapping with an rgb-d camera. Robotics, IEEE Transactions on, 30(1) :177–187, Feb 2014.


F. Endres, J. Hess, N. Engelhard, J. Sturm, D. Cremers, and W. Burgard. An evaluation of the rgb-d slam system. In Robotics and Automa-tion (ICRA), 2012 IEEE International Conference on, pages 1691–1696, May 2012.


Good luck

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Thank you. I saw the first paper and it seems they did every thing (e.g. extracting visual features, ...) using point clouds and next used Octomap to just reduce the map size. I added this, just to clarify the subject for future readers.

AliAs gravatar imageAliAs ( 2014-10-10 11:48:10 -0600 )edit

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Asked: 2014-10-09 09:35:59 -0600

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Last updated: Oct 10 '14