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Generation online 3D map from a RGB Camera

asked 2015-07-10 09:10:10 -0500

Phelipe gravatar image

updated 2015-07-10 09:31:21 -0500


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!!

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

Po-Jen Lai gravatar image Po-Jen Lai  ( 2015-07-10 10:05:42 -0500 )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 image Phelipe  ( 2015-07-10 11:00:40 -0500 )edit

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answered 2015-07-10 21:04:00 -0500

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.

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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 image Phelipe  ( 2015-07-17 11:47:24 -0500 )edit

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

Po-Jen Lai gravatar image Po-Jen Lai  ( 2015-07-19 11:35:02 -0500 )edit

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Asked: 2015-07-10 09:10:10 -0500

Seen: 1,475 times

Last updated: Jul 10 '15