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Generating odometry data with kinect

noetic
vslam

asked 2022-01-01 10:10:09 -0600

aspq

11 ●2 ●4 ●6

I try to build a slam robot with kinect. I cant get any reliable data from my encoders so i want to generate odometry data via kinect. When i look for it topics are outdated so is there anyway to generate odometry data for slam via kinect?

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It’s possible, it’s called visual odometry or visual slam. There is a video that shows how to: https://youtu.be/c5punaP01kU

It’s not the most reliable either and it will depend on the hardware you are using. The video uses a RPI 4 so it’s in the low end of the spectrum.

osilva ( 2022-01-01 11:15:18 -0600 )edit

im using my computer. moving robot via twist messages with arduino uno , kinect directly connected my computer

aspq ( 2022-01-01 11:27:55 -0600 )edit

Should be ok then.

osilva ( 2022-01-01 18:38:45 -0600 )edit

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answered 2022-01-02 05:09:37 -0600

duck-development

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You can use the kinect in two ways, Frist less computational. You extrackt a scan line from your kinect pcl stream and use it as the imput for a classical slam See here: wiki

Or you use the full pcl an starts with 3d slam also known as Rgb D slam. see here: youtube Or read here : wiki

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how can i use rgbd slam on noetic?

aspq ( 2022-01-02 05:42:15 -0600 )edit

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Asked: 2022-01-01 10:10:09 -0600

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Last updated: Jan 02 '22

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