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Use rtab-map in variable light conditions

asked 2022-09-01 04:35:00 -0500

maddinm gravatar image

Hello,

i'm not sure if this is the right place to post this question. But i hope, someone can maybe help me.

I want to digitalize an indoor environment. I'm talking about old beer cellars where no additional light is possible, so it is completely dark there and no additional light (except the flashlight from the phone or an additional hardware flashlight) is possible, so i'm there in a completely dark environment. I also don't want to buy additional (expensive) hardware, idealy it would work with just a simple phone without distance sensor, just with camera, or maybe an laptop with an Kinect or an USB webcam. I want to scan it from phone/laptop, but can not do wheel distance measurement by a robot.

What can i do? Would rtabmap work with just a old kinect from ebay and just the light of a flashlight? What hardware would i have to buy? Would it be possible to archive with simple hardware from raspi/arduino? Which RasPi-Revision would i have to use?

Thank you.

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answered 2022-10-23 21:42:57 -0500

matlabbe gravatar image

updated 2022-10-23 21:44:10 -0500

As you are referring rtabmap, I saw large trajectories (more than 1 km) in underground mines with a Google Tango phone (with RTAB-Map Tango App) and a flashlight. More recently, you could use latest iPad Pro or iPhone 12-13-14 Pro (with LiDAR) with RTAB-Map iOS and a flashlight.

With a laptop computer, I would go with Kinect Azure, which could work without any lights.

If you do have a Kinect for xbox 360, you could try the rtabmap standalone version with it.

EDIT: another duplicate answer here https://github.com/introlab/rtabmap/i...

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Asked: 2022-09-01 04:35:00 -0500

Seen: 107 times

Last updated: Oct 23 '22