ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

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 !!!

edit retag flag offensive close merge delete

3 Answers

Sort by ยป oldest newest most voted

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

You can take a look at rgbdslam package

edit flag offensive delete link more


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

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.

edit flag offensive delete link more


I think the package your thinking of is pointcloud_to_laserscan from the turtlebot stack.

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

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

edit flag offensive delete link more


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

Question Tools



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

Seen: 911 times

Last updated: Nov 24 '12