Kalman Filter for Lidar and Camera PointCloud? [closed]

asked 2018-10-29 08:40:34 -0600

hdbot gravatar image


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 laser_assembler, 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 robot_localization 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/... . However, I want to perform Extended Kalman Filter to combine the point cloud.

Is there a way I can do that?

Thanks, Hdbot

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Closed for the following reason question is not relevant or outdated by hdbot
close date 2019-03-26 08:07:55.514167


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.

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2018-10-29 08:57:59 -0600 )edit

@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.

hdbot gravatar image hdbot  ( 2018-10-29 09:38:41 -0600 )edit

@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

SIU0598 gravatar image SIU0598  ( 2019-05-17 01:40:09 -0600 )edit