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3d slam with 2d sensor

asked 2019-12-11 07:03:48 -0500

pacifica gravatar image

Hi guys,

I am wandering if any software exists to perform 3d SLAM with a 2d laser scanner. In principle, I have a 2d hokuyo lidar attached to my UAV. I am able to calculate the odometry of the UAV thanks to the Intel Relsense tacking camera, so I can reconstruct the 6D pose of the UAV. However, I want to fuse the odometry information with a SLAM software in order con refine the localization (adjusting the odometry) and create a map of the environment.

Of course I know software like gmapping or hector_slam, but If I well understand, such software don't consider variation over the altitude of the robot. In fact the generated my is a 2d occupancy gridmap. I also used the pose of the uav to create my own octomap, but only using raw odometry data. I have wront result if I use the output of such SLAM software.

I checked out other packages like rtabmap... but again depth + image data are needed.

Thank you for any suggestion.

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answered 2019-12-11 20:24:23 -0500

Masaya Kataoka gravatar image

You can use 3d slam package, if you use laserscan_to_pointcloud node and convert sensor_msgs/LaserScan into sensor_msgs/PointCloud2.

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Thank you for your comment. Sure I could try using a classical 3d slam algorithm converting Laser data in point cloud. I was wandering if you were aware about a SLAM ROS package that consider point cloud and odometry to generate the map.

pacifica gravatar image pacifica  ( 2019-12-16 08:13:09 -0500 )edit

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Asked: 2019-12-11 07:03:48 -0500

Seen: 229 times

Last updated: Dec 11 '19