Monocular SLAM with OctoMap

asked 2018-09-14 09:47:11 -0500

Farid gravatar image

updated 2018-09-14 09:48:05 -0500


My question might sound a bit high school (ish) , but I was just wondering if OctoMap could be used with Monocular camera for 3D Mapping,

To be more specific, I am using ORB_SLAM2 framework using Monocular camera to generate map of indoor environment. I could not use gmapping due to the fact that there is not laser_scan topic published in ORB_SLAM2. And honestly, I am not interested in converting my point clouds to laser scans as some kind of reverse engineering solution with pointcloud_to_laserscan package.

Instead I am subscribing to PointCloud2 topic to take advantage of OctoMap for mapping.

The result of OctoMap with monocular ORB_SLAM2, however, is more or less crap since I do not get meaningful representation of walls, edges and so on and so forth in rviz.

Your ideas would be quite helpful,


edit retag flag offensive close merge delete


Have you been able to get this working? I'm thinking of using octomap with orb_slam2 and doing something similar.

Fizz gravatar image Fizz  ( 2019-01-15 23:11:41 -0500 )edit

not really after one year! :)

Farid gravatar image Farid  ( 2020-01-17 08:18:10 -0500 )edit