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rtabmap+3d map

asked 2018-07-13 00:14:14 -0500 gravatar image

hi all, i used rtabmap to created 3d map from environment. i used stereo camera for this. my question is that, in rtabmap, How is the 3D map created for stereo camera? it is feature based or area based? in other words, What is a 3D map creating theory? thanks

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Comments you have a lot of questions with answers but you haven't marked them as correct, can I ask that you please go through your questions and do so to the ones that solved your problem? This will let future users know what worked. Specifically #q282985 and #q282399

jayess gravatar image jayess  ( 2018-07-23 16:06:54 -0500 )edit

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answered 2018-07-23 14:44:02 -0500

matlabbe gravatar image

For each node, a disparity image is created using cv:StereoBM(), then projected to create a cloud. The clouds are then assembled the same way than clouds created from RGB-D cameras.

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Asked: 2018-07-13 00:14:14 -0500

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Last updated: Jul 23 '18