Kalman Filter for Lidar and Camera PointCloud?
Hello,
I was looking into finding a way to fuse two pointclouds, one from a Lidar (Scanse) and another from a Zed Camera. I have converted the 2D scan from Lidar using laserassembler, and now I want to take the assembled cloud and perform sensor fusion with the 3D point cloud obtained from the zed camera. I tried looking into robotlocalization for fusion but from my understanding it is ideal for odom fusion only. I know I can combine the two point clouds using this tutorial: http://pointclouds.org/documentation/tutorials/concatenate_clouds.php. However, I want to perform Extended Kalman Filter to combine the point cloud.
Is there a way I can do that?
Thanks, Hdbot
Asked by hdbot on 2018-10-29 08:40:34 UTC
Comments
Wanting to use an EKF is all well and good, but you've got two point clouds with different resolutions, fields of view and optical centres. This is not a trivial task before you can design an EKF system to do this you'll have to define the exact measurements you're trying to produce.
Asked by PeteBlackerThe3rd on 2018-10-29 08:57:59 UTC
@PeteBlackerThe3rd are there any tutorials or ways you can suggest that I can do this from? I am new to this and not sure how I can address it.
Asked by hdbot on 2018-10-29 09:38:41 UTC
@hdbot have you found some way to fuse the two point clouds? I am also looking for similar task, your help will mean alot. Thanks
Asked by SIU0598 on 2019-05-17 01:40:09 UTC