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Question on indoor navigation and face tracking - RPLidar or RGB-D camera or both

asked 2019-06-18 07:41:02 -0500

ritesh gravatar image

My requirement is to do indoor navigation/obstacle avoidance and also face detection and tracking using a ground robot (not UAV). I know that I can use RPLidar for creating occupancy grid maps but for face detection, Iidars will not work and I will need to use an RGB-D camera for detection and tracking. Now, I do not want to buy both a Lidar (for SLAM and navigation) and a depth sensing camera (for face detection and tracking) since it will be expensive to buy both. My question is - can I create 2D maps using an RGB-D camera and will it be fine to use it for indoor purposes in natural light and darkness also (for face detection). Or a Lidar will outperform an RGB-D camera when it comes to navigation.

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answered 2020-02-18 02:33:58 -0500

Procópio gravatar image

If you want to choose a single sensor, using an RGBD camera is the way to go. You can check turtlebot2 family, for example, that uses this config.

The RGBD will allow for 3D perception, but you'll need more CPU consuming algorithms to map and localize with that sensor. A LIDAR in the other hand is usually cheaper, has a greater range, precision and framerate, but you'll only see a "slice" of the world.

It boils down to which kind of application you have in mind.

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answered 2019-06-18 14:11:15 -0500

you could use the depth image to laserscan node http://wiki.ros.org/depthimage_to_las... to generate lidar data for 2d mapping

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Asked: 2019-06-18 07:41:02 -0500

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Last updated: Feb 18 '20