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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 ,
  • 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 .

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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.

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

Seen: 51 times

Last updated: Nov 20 '19