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Is it possible to get rgb from camera and depth from the lidar for loop closure detection?

asked 2021-11-04 12:28:05 -0500

Delbina
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updated 2021-11-06 13:06:39 -0500

lucasw

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hi.

i have a number of sensors already (3d-lidar, imu, wheel odometer), now i want to use an RGB camera as well. the rgb part of the camera (ASUS model) is ok but its depth is so poor outside. so is it possible to receive rgb from the camera nad the depth from 3d laidar?
I want to have a loop clousre so i need to have a camera.

kind regards

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answered 2021-11-13 19:24:31 -0500

matlabbe

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The idea would be to reproject the lidar point cloud in RGB camera frame, creating a registered depth image to RGB camera. You can look at this post, where a depth image (see top left in image below) its created from velodyne point cloud:

image description

Other approach would be to use a stereo camera instead.

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Asked: 2021-11-04 12:28:05 -0500

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Last updated: Nov 13 '21

Is it possible to get rgb from camera and depth from the lidar for loop closure detection? edit

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Is it possible to get rgb from camera and depth from the lidar for loop closure detection?