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Can I generate a 3d map using 2d lidar data?

asked 2015-05-20 23:58:55 -0600

hgtc-dp gravatar image

I don't know how to approach this problem. I was thinking of using octomap but since there are no tutorials available I can't seem to pick a starting point. Are there any other packages that I can use?

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answered 2015-06-01 08:36:20 -0600

jodafo gravatar image

updated 2015-06-01 08:36:33 -0600

As the name suggests, OctoSLAM performs mapping and localization though. In case you are only interested in mapping your laser scans given that you know the 6D pose of the sensor it's quite straight forward:

  1. Convert laser scan to pcd ( http://wiki.ros.org/laser_geometry )
  2. Provide tf between sensor and world frame ( http://wiki.ros.org/tf/Tutorials )
  3. Map the laser scans using http://wiki.ros.org/octomap_server
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Hi jodafo, i converted laser scan to pcd but was not able to provide tf between laser and world frame. Is it possible to generate 3d map without imu? If yes, then what should i do to generate 3d map? thanks in advance.

ARCHANA gravatar imageARCHANA ( 2016-01-19 15:11:06 -0600 )edit

You need an external SLAM or localization node to provide the map-->odom or map-->base_link transform

Icehawk101 gravatar imageIcehawk101 ( 2016-03-31 08:36:54 -0600 )edit
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answered 2015-05-21 02:20:18 -0600

daenny gravatar image

There is some research about this problem. Exactly using Octomap. There is no tutorial, but google for OctoSLAM and you will find a paper about it. e.g.:

http://sjriek.nl/publication/2013-ICU...

There is also a ROS implementation, based on Groovy as far as I remember, but no Tutorial, and you have to digg through the code yourself:

https://github.com/ChallenHB/OctoSlam

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Asked: 2015-05-20 23:58:55 -0600

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Last updated: Jun 01 '15