SLAM with depth camera (no rgb)

asked 2014-11-01 18:31:19 -0500

clynamen gravatar image

Does ROS already provides a package for doing SLAM only with the data coming for a depth camera, without the rgb data (for instance, this is the case of many ToF cameras) ? Some methods to do this, based on ICP, are listed here: 3D pose estimation and mapping with time-of-flight cameras

It uses depth and intensity data with ICP and SIFTand KLT for feature detection

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Hey there, did you finally find an answer to your question? i have the same kind of question here:

stevej_80 gravatar image stevej_80  ( 2015-10-25 17:06:20 -0500 )edit

yes, it is possible since many sensor provide a 1 channel intensity output. Using this you can use package such as ccny_rgbd. I will expand the answer tomorrow

clynamen gravatar image clynamen  ( 2015-10-25 18:35:19 -0500 )edit