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Laser 3D map

asked 2016-04-28 09:14:17 -0500

Kailegh gravatar image

updated 2016-04-28 10:45:11 -0500

  • Hi, I am going to use a Velodyne VLP-16 to create a 3D map. It is going to go on a moving "robot/car" so it will likely have the wheel odometry. The algorithm does not need to run in real time.
  • Currently I get to publish the PointCloud2 from the device. I need to create a 3D map by combining these pointclouds. I use ROS Indigo, could ypu give me some advice about what package could I use? loam seemed pretty good but it has been removed from public access, I got to use a old version but it sometimes loses the odometry.
  • I would like to know the process of what I have to do to create a 3D map from different pointclouds; and what packages should I use. I have seen things like octomap, but I am not sure if that is what I need.

Thanks a lot!!

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Octomap seems popular and is worth trying. You may also want to sub-sample to an appropriately-sized voxelgrid or similar filter.

joq gravatar image joq  ( 2016-04-29 10:27:25 -0500 )edit

ok, would I have just to suscribe octomap to the velodyne pointCloud2 topic to do make de 3D map? or would I also have to provide a tf, odom, or something like that?

Kailegh gravatar image Kailegh  ( 2016-05-03 06:45:46 -0500 )edit

I asked a similar question here and the response was that you'll still need to provide transforms to octomap for it to combine (register) the point clouds to create a 3D map.

chukcha2 gravatar image chukcha2  ( 2016-06-08 13:14:45 -0500 )edit

and what was your solution to provide the location? using an IMU?

Kailegh gravatar image Kailegh  ( 2016-06-13 03:34:02 -0500 )edit

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answered 2016-05-05 10:29:22 -0500

joq gravatar image

I don't have any personal experience with octomap, but looking at the docs there appear to be several options:

You probably do want to provide appropriate transforms to the odom coordinate frame.

Perhaps someone more knowledgeable will provide additional suggestions.

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Asked: 2016-04-28 09:14:17 -0500

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Last updated: May 05 '16