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

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

Sudhan
171 ●18 ●21 ●27

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

ngrennan
1 ●1 ●1

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?

edit retag flag offensive close merge delete

add a comment

0

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

Sudhan
171 ●18 ●21 ●27

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"

edit flag offensive delete link

add a comment

0

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

Dubrovskiykot
7 ●4

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.

edit flag offensive delete link

Comments

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

Sudhan ( 2012-09-04 01:07:49 -0500 )edit

1

It's already subscribes /tf, but for every received image from /tf, rgbdslam writes in log: "not valid transform"...

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 ( 2012-09-05 04:15:07 -0500 )edit

1

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

add a comment

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

2 Answers

Comments

Question Tools

Stats

Related questions

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

2 Answers

Comments

Question Tools

Stats

Related questions

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