ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Camera+Lidar fusion - SLAM

asked 2019-11-04 07:39:33 -0500

Danny_PR2 gravatar image

updated 2019-11-05 07:41:35 -0500


I have a carlike robot which is equipped with a 360 degrees lidar(even though I only use 180 deg.), and a monocular camera. I have been using ROS for performing SLAM with lidar-based algorithms, e.g., gmapping, hector, and cartographer. Also, I have used ORB slam for performing slam using the monucular camera attached to my robot.

My question is: is there any known method within ROS community which allows the fusion of monocular camera + lidar data for performing SLAM? If not, is there any suggestions of how implementing such a package in ROS (taking advantage of ROS framework and existing packages) ?

I am thinking that a graph-based slam with the constraints being both features from camera and obstacles detected by lidar could be a feasible approach. However I have not found any package that could provide anything similar to that.

Update: I have found the package called omnimapper. It seems a promising option for my task. Has anyone already used it before in a similar situation?

edit retag flag offensive close merge delete


Hello, I was working on something similar to this and wanted to ask what micro-controller you are using for this application. I am kind of new to ROS. Any help would be appreciated! Thank you.

Ashish05 gravatar image Ashish05  ( 2020-09-23 16:03:37 -0500 )edit

2 Answers

Sort by ยป oldest newest most voted

answered 2020-09-23 07:40:25 -0500

sinsinsinsin gravatar image


But I didn't successfully set up it on my machine.

edit flag offensive delete link more

answered 2019-11-04 12:23:04 -0500

duck-development gravatar image

You may look for the paper

A Simultaneous Localization and Mapping (SLAM) Framework for 2.5D Map Building Based on Low-Cost LiDAR and Vision Fusion
edit flag offensive delete link more


Thank you for the suggestion! I was aware of this paper, but the authors AFAIK have not released a package/framework that could be re-used. I am looking for a possible existing package that would allow monocular camera + 2D lidar as sources for SLAM

Danny_PR2 gravatar image Danny_PR2  ( 2019-11-05 07:19:41 -0500 )edit

Question Tools

1 follower


Asked: 2019-11-04 07:39:33 -0500

Seen: 1,752 times

Last updated: Sep 23 '20