Can I use 2d lidar with stereo camera to create a 3D map?

asked 2019-03-26 13:53:02 -0500

pravin1 gravatar image

Hi everyone,

I am using 2 logitech cameras to create a stereo camera. With this camera, I am able to create 3D map of the surrounding using RTABMAP. But I also have a 2D lidar which I want to use, to improve the precision of my map and later help me during navigation. But I could not find any package that takes either laser scan or laser pointcloud and use it with stereo to give me a 3D map. Is it possible to combine these two data? If yes, can anyone suggest me some package for such arrangement ?

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Can you detail more on how you place the lidar? You may look at this post: http://official-rtab-map-forum.67519....

matlabbe gravatar imagematlabbe ( 2019-03-31 17:01:20 -0500 )edit

I have sick pls 101-312 laser scanner. It is currently mounted horizontally on the robot. There is no rotating or tilting mechanism for the laser scanner.

pravin1 gravatar imagepravin1 ( 2019-04-01 07:14:35 -0500 )edit
1

See http://wiki.ros.org/rtabmap_ros/Tutor... , in particular subscribe_scan parameter and scan remapping. You can replace rgbd_sync nodelet by stereo_sync to use with a stereo camera.

matlabbe gravatar imagematlabbe ( 2019-04-01 18:23:12 -0500 )edit

Thank you. I can now use the laser scan with RTAB Map, but i quite do not understand how it uses Laser scan during the mapping?

pravin1 gravatar imagepravin1 ( 2019-04-02 10:37:26 -0500 )edit
1

By default, it will use them for the occupancy grid generation. To use them to refine odometry and loop closures, see description of RTAB-Map's parameters in the tutorial. For more info, see this paper.

matlabbe gravatar imagematlabbe ( 2019-04-03 18:32:18 -0500 )edit