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How to combine robot odometry with RGBD SLAM algorithm for mapping ?

asked 2012-09-03 23:48:16 -0500

Sudhan gravatar image

updated 2014-01-28 17:13:33 -0500

ngrennan gravatar image

I use rgbdslam package for building a 3d map and it is successful. Now, I would like to combine the robot odometry with this algorithm for mapping. Is there any possiblity to do this?

If possible, how to do it?

Thanks in advance for the reply.


updated:

Now, I defined the transformation between frames 'odom' and 'openni_camera'. Also, the '/tf' has 'odom' as its initial frame and it is subscribed by package 'rgbdslam'. Even though, I have a doubt that whether 'rgbdslam' will consider it for mapping or not?

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answered 2012-10-12 01:12:39 -0500

Sudhan gravatar image

updated 2012-10-12 01:14:14 -0500

Later, I came to know that we have to set the following parameter in launch file - "rgbdslam_sample_config.launch"

param name="config/odom_frame_name" value="fixed_frame_to_odometry"

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answered 2012-09-04 00:17:14 -0500

Dubrovskiykot gravatar image

updated 2012-09-04 00:18:10 -0500

You can use Robot Pose Ekf package. It combines data from IMU, visual and wheel odometry. Also, RGBDSLAM must receive wheel odometry data via /tf.

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If I do so, Will rgbdslam package subscribe '/tf' and consider it while mapping?

Sudhan gravatar image Sudhan  ( 2012-09-04 01:07:49 -0500 )edit
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It's already subscribes /tf, but for every received image from /tf, rgbdslam writes in log: "not valid transform"...

Dubrovskiykot gravatar image Dubrovskiykot  ( 2012-09-05 01:28:26 -0500 )edit

Is 'Robot Pose Ekf' gives the more accurate pose (corrected odometry) of robot as output?

Sudhan gravatar image Sudhan  ( 2012-09-05 04:15:07 -0500 )edit
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Now, I defined the transformation between frames 'odom' and 'openni_camera'. Also, the '/tf' has 'odom' as its initial frame and it is subscribed by package 'rgbdslam'. Even though, I have a doubt that whether 'rgbdslam' will consider it for mapping or not?

Sudhan gravatar image Sudhan  ( 2012-09-06 03:38:55 -0500 )edit
1

Yes, I also try to combine visual and wheel odometry, and also think, where rgbdslam combines data.

Dubrovskiykot gravatar image Dubrovskiykot  ( 2012-09-06 04:11:44 -0500 )edit

i had the same problem , i want to integrate the robot odometry in the algorithm of rgbdslam how can i do this please

sophye_turtlebot gravatar image sophye_turtlebot  ( 2015-06-25 05:23:57 -0500 )edit

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Asked: 2012-09-03 23:48:16 -0500

Seen: 1,598 times

Last updated: Oct 12 '12