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How to build a 3D map in a dark environment?

asked 2018-10-10 08:05:11 -0500

MartinROS gravatar image


I would like to build a 3D map in Rviz of a dark room with a kinect sensor. I am looking for a suitable package, only I don't have the knowledge to choose the right one. The package needs to have a registration and stitching method that isn't based on colour.

Is there anyone who can help me?

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Isn't this a duplicate of #q305365?

gvdhoorn gravatar image gvdhoorn  ( 2018-10-10 08:31:17 -0500 )edit

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answered 2018-10-10 18:48:03 -0500

As you mention, suitable packages would be all those who don`t use color, but only depth data (which is largely unaffected in darkness). This is the case for "Kinect Fusion like" dense 3D mapping approaches like:

Haven't tried any of them, but in principle they should be able to perform mapping in dark environments. Caveats apply, as these approaches require sufficient geometry features in the camera's FOV, computational resources etc.

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Asked: 2018-10-10 08:05:11 -0500

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Last updated: Oct 10 '18