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camera_based localization

asked 2012-08-06 10:43:57 -0500

Chong gravatar image

updated 2016-10-24 09:03:09 -0500

ngrennan gravatar image

Hi all I'm on this localization project and I'm required to do localization using a kinect camera. I did some research and all the resources I found are using laser scan instead of a camera, like the ACML package. So I'm wondering if anyone knows a good resource on camera_based localization. Lots of thanks !!!

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answered 2012-11-24 10:04:13 -0500

You can take a look at rgbdslam package

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thanks yay that's what I tried using but it's much nosier than laser scanner so in the end I just used laser scanner. Thanks anyway!

Chong gravatar image Chong  ( 2012-12-02 08:19:46 -0500 )edit
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answered 2012-11-24 08:41:57 -0500

davinci gravatar image

I did also see a technique somewhere (cannot tell where any more unfortunately) where they just took a slice of their kinect data to get the same data as a laser scanner. So that you can use the kinect as if it where a laser scanner.

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I think the package your thinking of is pointcloud_to_laserscan from the turtlebot stack. http://www.ros.org/wiki/pointcloud_to_laserscan

JonW gravatar image JonW  ( 2012-11-24 16:37:11 -0500 )edit
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answered 2012-11-24 16:12:08 -0500

Amal gravatar image

you may have to use VSLAM which refer to Visual Simultaneous Localization and Mapping but this require feedback from vision system and odometer system

most simplified one using only Vision system is by using Bearing Only SLAM

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sry I do not know if it is supported in ROS but I use these techniques in Autonomous Mine Sweeper Project

Amal gravatar image Amal  ( 2012-11-24 16:15:14 -0500 )edit

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Asked: 2012-08-06 10:43:57 -0500

Seen: 592 times

Last updated: Nov 24 '12