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3D pointcloud SLAM

asked 2015-07-01 02:46:13 -0500

ChickenSoup gravatar image

updated 2015-07-02 20:47:48 -0500

Hey guys,

Is there any ROS 3D pointcloud SLAM package available, which does not use any odometry sources? http://wiki.ros.org/ethzasl_icp_mapper seems to require the sensor_frame → /odom transform.

Thanks.

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answered 2015-07-01 04:48:30 -0500

updated 2015-07-02 23:06:50 -0500

For depth only,

http://wiki.ros.org/loam_velodyne (code not available now)

http://sourceforge.net/p/slam6d/code/... (SLAM 6D)

https://github.com/search?q=velodyne+...

As for RGBD sensor, some state-of-the-art algorithms are listed below.

http://felixendres.github.io/rgbdslam...

http://wiki.ros.org/rtabmap

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actually I am not talking about visual odometry. I am looking for package that only makes use of pointcloud data, for example from a Velodyne sensor, and perform 3D SLAM. Thanks!

ChickenSoup gravatar imageChickenSoup ( 2015-07-02 19:57:48 -0500 )edit

@Ricky Thank you very much.

ChickenSoup gravatar imageChickenSoup ( 2015-07-05 21:21:03 -0500 )edit

You're welcome. loam_velodyne seems to be the best, but now the source code cannot be accessed. Maybe you can try implementing their algorithm described in their paper.

Po-Jen Lai gravatar imagePo-Jen Lai ( 2015-07-06 01:07:04 -0500 )edit
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@Peshala, were you able to come up with a solution that only uses point cloud data to perform 3D scan?

chukcha2 gravatar imagechukcha2 ( 2016-03-02 16:17:47 -0500 )edit

(probably old) loam_velodyne code can be found here: http://docs.ros.org/indigo/api/loam_v...

chukcha2 gravatar imagechukcha2 ( 2016-03-03 09:57:25 -0500 )edit

How can I install de loam_velodyne code you posted there? Can I still use it?

Kailegh gravatar imageKailegh ( 2016-04-15 06:51:55 -0500 )edit

Hi @Kailegh, the original loam_velodyne repository is no longer available (I think the author founded Real Earth). However there is a fork here that seems to be active. If you try it, let us know how it works for you.

chukcha2 gravatar imagechukcha2 ( 2016-04-15 10:20:02 -0500 )edit

I have try the code you gave me. I have only done a few test but it seems to map de lasers pretty good. As I use it I will coment furthers results. Do you have any other methods to do a 3D SLAM with the velodyne data?

Kailegh gravatar imageKailegh ( 2016-04-19 06:02:28 -0500 )edit

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Asked: 2015-07-01 02:46:13 -0500

Seen: 8,169 times

Last updated: Jul 02 '15