3D SLAM with pointcloud as input

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.

Asked by Markus on 2019-09-01 09:48:04 UTC

Comments

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.

Asked by gvdhoorn on 2019-09-01 09:54:04 UTC

Answers

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.

Asked by danscava on 2019-09-02 07:47:14 UTC