Ask Your Question
0

3d particle filter based slam

asked 2019-11-20 03:43:44 -0500

Hi guys ,

I am aware of 2d slam using AMCL . Where 2d laser scans are compared with a global cost map to restimate the location .

I was wondering if there might be any algorithm out there which can do the following .

  • First build a highly dense Point Cloud Mapusing a 3D lidar such as VLP16 .(I used this , https://github.com/ningwang1028/lidar...)
  • Then using the above generated map , use depth output from Stereo/Depth camera to perform a 3d particle filter to re-estimate the location

If anyone has some pointers kindly share .

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
1

answered 2019-11-20 12:14:50 -0500

Sure, doesn't sound too hard, it would be the exact same process as AMCL just with a different projection model of the rays. All the algorithms you just mentioned you gave examples of existing, its just plugging them together to make your application.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

2 followers

Stats

Asked: 2019-11-20 03:43:44 -0500

Seen: 51 times

Last updated: Nov 20 '19