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How do I use a map to reduce odometry errors? [SOLVED]

asked 2016-10-30 11:43:17 -0500

jmrssc gravatar image

updated 2016-11-07 15:30:53 -0500

So, I have a *.pgm and *.yaml map and I want to use it, somehow, to reduce the odometry errors.

I need to get accurate locations to set point on a map and someone recomended this to me. However I couldn't find info about that anywhere.

Thanks!

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@jmrssc: if you feel one of the answers provided below has actually answered your question, could you please mark it as such by ticking the checkmark to the left of it? That is much clearer than adding [SOLVED] to your question title.

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gvdhoorn gravatar image gvdhoorn  ( 2016-11-08 12:29:26 -0500 )edit

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answered 2016-10-30 13:27:23 -0500

spmaniato gravatar image

Sounds like you are looking for a ROS package for localization: http://wiki.ros.org/amcl

Keep in mind that localizing against a map requires Laser Scan or Point Cloud data from a corresponding sensor (spinning LiDAR, MS Kinect, etc.)

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Yes! I think it is this.

Thank you!

jmrssc gravatar image jmrssc  ( 2016-10-30 16:04:58 -0500 )edit

Well, is there a way to do it with just a camera? Our project is similar but it is outdoors. LIDAR is too expensive, and MS Kinect doesn't work with sun light. We were hoping we'd be able to use the RPi camea module. I've already looked into AprilSLAM. Haven't tried it yet.

krusion gravatar image krusion  ( 2016-10-31 03:49:15 -0500 )edit

@krusion I think that will help: http://wiki.ros.org/rtabmap

trgtylcnky gravatar image trgtylcnky  ( 2016-11-07 02:46:13 -0500 )edit

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Asked: 2016-10-30 11:43:17 -0500

Seen: 98 times

Last updated: Nov 07 '16