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About Octomap from rgbdslam.

asked 2012-07-23 04:24:32 -0500

Sudhan gravatar image

updated 2014-01-28 17:13:06 -0500

ngrennan gravatar image

I built a octomap using rgbdslam package from ros. Now, I have a built map. It consists only the depth information or pose of the objects in 3D. If I use kinect for navigation it will not able avoid the object within distance 1.2m (minimum range of kinect depth sensor).

  1. Is there any available alternatives for the depth sensor to avoid object with in 1.2m?
  2. Or any alternatives (like other type of map from same algorithm or any)?

Thank you in advance for the suggestions.

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Sorry, your question is unclear to me. If you can localize in the recorded map, the map will tell you about the obstacles (if they are in it).

Felix Endres gravatar image Felix Endres  ( 2012-07-23 04:30:54 -0500 )edit

But what about moving objects come in between 1.2m?

Sudhan gravatar image Sudhan  ( 2012-07-23 05:28:44 -0500 )edit

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answered 2012-07-23 04:38:18 -0500

dornhege gravatar image
  1. Yes, mainly laser scanners. Stereo vision or any other sensor with a better min-range will work.

  2. Probably no, if the sensor doesn't give you any data an algorithm cannot do anything.

I said probably because, if you don't get max-range readings in the kinect data if the obstacles are nearer than min-dist, then the octomap doesn't map free space. So the cells where there is no data will be unknown. Your algorithms can now treat unknown cells as obstacles or more precisely you should only plan through free space.

There are some caveats however: Noisy distant readings might still get you free space. Also, you'd probably have to get free space cells for the full height of the robot now and thus might need to actively explore the 3D space.

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answered 2012-07-24 07:00:31 -0500

You can use the nyco zoom lens for the kinect. It will lower the minimum distance. Of course the depth measurements will be distorted, but just for obstacle avoidance it should be usable.

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thanks for the suggestion

Sudhan gravatar image Sudhan  ( 2012-07-24 22:20:03 -0500 )edit

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Asked: 2012-07-23 04:24:32 -0500

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Last updated: Jul 24 '12