Ask Your Question
2

Generation online 3D map from a RGB Camera

asked 2015-07-10 09:10:10 -0600

Phelipe gravatar image

updated 2015-07-10 09:31:21 -0600

Hi!

I need to create a 3D map with an ArDrone 2.0 in real time (while the drone's still acquiring data), but its camera doesn't have a depth sensor, otherwise the RGBDSLAM would be a good choice, i guess. I've read some questions about that but didn't find a way to do it online. I found this video about monocular SLAM but it creates a depth map only.

Is there a package that i could use to help me with that?

Any thoughts?

Thanks in advance!!

edit retag flag offensive close merge delete

Comments

Why is the map built from LSD-SLAM not enough? The output map is point cloud.

Po-Jen Lai gravatar imagePo-Jen Lai ( 2015-07-10 10:05:42 -0600 )edit

Thanks for your response! Is this choice the better one since i need a 3D map to navigate through? I'm looking for more options to consider. (PS.: This package works for ROS indigo and fuerte, i'm using the hydro version, is that a problem?)

Phelipe gravatar imagePhelipe ( 2015-07-10 11:00:40 -0600 )edit

1 Answer

Sort by ยป oldest newest most voted
2

answered 2015-07-10 21:04:00 -0600

Yeah, since you want to navigate, the map is quite important.

tum_ardrone is a good starting point, but instead of PTAM, you can try ORB SLAM. ORB SLAM works for ROS Hydro, so it might be a good choice.

edit flag offensive delete link more

Comments

Unfortunately the probabilistic semi-dense mapping module isn't available for ORB SLAM yet, so i don't know a way to create the 3D map with this package, i'm testing LSD SLAM instead.

Phelipe gravatar imagePhelipe ( 2015-07-17 11:47:24 -0600 )edit

Yeah, but the navigation part might not be easy. Have fun!

Po-Jen Lai gravatar imagePo-Jen Lai ( 2015-07-19 11:35:02 -0600 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

3 followers

Stats

Asked: 2015-07-10 09:10:10 -0600

Seen: 1,385 times

Last updated: Jul 10 '15