ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

gmapping with Structure Sensor

asked 2014-10-20 09:25:24 -0500

Francis Dom gravatar image


I am using the Structure Sensor onboard the Parrot AR.Drone for SLAM The Structure Sensor is a depth sensor and cannot use RGB-D SLAM techniques the structure sensor is connected to the ODROID-U3 board which runs on ROS Indigo

I would like to ask if I can use the gmapping slam with the Structure sensor If yes, could you provide with a system architecture. What are the system dependencies that have to be installed

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2014-10-20 10:58:38 -0500

paulbovbel gravatar image

Specwise, the structure sensor seems to be very similar to the Kinect/Xtion in terms of resolution, refresh rate, and FOV. It's a shame they didn't include RGB output.

The FOV on the Kinect is they typical limitation for gmapping, since it can't match as many features as a laserscanner, and doesn't map as much area. It's also fairly noisy compared to a typical laserscanner.

You're also missing odometry, which is necessary for gmapping, and in general makes the task a lot harder. You could try hector_slam, which works without odometry, though I've never tested it myself. Feel free to search around for kinect + hector_slam threads, and you'll find that most people don't have a lot of luck with that setup.

Since you asked about architecture, you'd use the pointcloud_to_laserscan nodelet to convert the pointcloud into a laserscan, and then go from there with the standard gmapping/hector_slam tutorials.

edit flag offensive delete link more

Question Tools



Asked: 2014-10-20 09:25:24 -0500

Seen: 831 times

Last updated: Oct 20 '14