Ask Your Question
1

Laser 3D map

asked 2016-04-28 09:14:17 -0600

Kailegh gravatar image

updated 2016-04-28 10:45:11 -0600

  • 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!!

edit retag flag offensive close merge delete

Comments

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

joq gravatar imagejoq ( 2016-04-29 10:27:25 -0600 )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 imageKailegh ( 2016-05-03 06:45:46 -0600 )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 imagechukcha2 ( 2016-06-08 13:14:45 -0600 )edit

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

Kailegh gravatar imageKailegh ( 2016-06-13 03:34:02 -0600 )edit

1 Answer

Sort by ยป oldest newest most voted
1

answered 2016-05-05 10:29:22 -0600

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.

edit flag offensive delete link more

Your Answer

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

Add Answer

Question Tools

1 follower

Stats

Asked: 2016-04-28 09:14:17 -0600

Seen: 779 times

Last updated: May 05 '16