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Camera+Lidar fusion - SLAM

asked 2019-11-04 07:39:33 -0600

Danny_PR2 gravatar image

updated 2019-11-05 07:41:35 -0600

Hi!

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?

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answered 2019-11-04 12:23:04 -0600

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
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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 imageDanny_PR2 ( 2019-11-05 07:19:41 -0600 )edit

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Asked: 2019-11-04 07:39:33 -0600

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Last updated: Nov 05