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3D SLAM with pointcloud as input

asked 2019-09-01 09:48:04 -0500

Markus gravatar image

updated 2019-09-01 09:48:59 -0500

Hey there,

is there any slam algorithm that uses a 2d pointcloud message as input message instead of a scan message?

Note that I also have a /odom topic and want to use it as well.

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that uses a 2d pointcloud message as input message

just making sure: PointCloud2 is not necessarily a 2d cloud. It's just "the second version" of the PointCloud message.

gvdhoorn gravatar image gvdhoorn  ( 2019-09-01 09:54:04 -0500 )edit

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answered 2019-09-02 07:47:14 -0500

danscava gravatar image

updated 2019-09-02 07:47:53 -0500

I'm assuming you are using a depth camera, there are some RGB-D SLAM algorithms, like rtabmap_ros

If you want to use a 2D SLAM, you can try using the node pointcloud_to_laserscan or depthimage_to_laserscan, these allows you to convert a pointcloud or depthimage to a 2D scan message.

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Asked: 2019-09-01 09:48:04 -0500

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Last updated: Sep 02 '19