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Point cloud SLAM

asked 2013-05-26 20:30:33 -0500

Astronaut gravatar image

updated 2013-05-26 21:26:54 -0500


I have a problem with the lokalization of my platform when running through corridors or between two tides walls. I tried to use the Hector Mapping but when for example driving the platform up/down a ramp corridor it failed. So, the Hector Mapping see like the platform is not moving(going forward) because has a problem with the scan matching. In my case amcl is not an option because I wont to use the platform without encoders, only IMU, Kinect and laser. So I thought about SLAM with point clouds. But I do not know if something exist in the ROS world.ANY help??


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answered 2013-05-26 21:16:42 -0500

U can look at RGBD slam. It uses an RGBD sensor like kinect or stereo camera. You can go to this link for details

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But does it need encoders ?I wont to use it for a platform without encoders, so without wheel odometry. Is that possible?And is a good option to use in a very limited environments like tidy walls corridors??

Astronaut gravatar image Astronaut  ( 2013-05-26 21:22:38 -0500 )edit

It probably wont require odometery readings. Since I havent used the package myself, I am not sure.

ayush_dewan gravatar image ayush_dewan  ( 2013-05-26 23:29:35 -0500 )edit

And do u know if its works well in limited environment like corridors with tidy walls ?

Astronaut gravatar image Astronaut  ( 2013-05-27 00:30:17 -0500 )edit

It will work well..

ayush_dewan gravatar image ayush_dewan  ( 2013-05-27 02:34:07 -0500 )edit

answered 2013-05-27 08:40:19 -0500

ethzasl_icp_mapper might be worth a try if you can tilt your laser scanner and generate pointclouds using this approach. In principle, you should also be able to align Kinectpoint clouds but the "tidy environment" you're describing sounds like the potentially higher range, FOV and accuracy of a LIDAR would be helpful.

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Sorry what do you mean by FOV?So I need this ethzasl_icp_mapper package at the top of the Hector Mapping? So can be used together with Hector Mapping or as alone? Is it possible to use this package with A Point Grey Dragonfly2 Firewire camera?Can I generate pointcloud with Poin Grey Firewire camera?

Astronaut gravatar image Astronaut  ( 2013-05-27 13:29:45 -0500 )edit

And whats the different when I use only pcl library? Why should ethzasl_icp_mapper work better than pcl (point cloud library)?

Astronaut gravatar image Astronaut  ( 2013-05-28 21:51:13 -0500 )edit

FOV = Field of view of the camera

Greg S gravatar image Greg S  ( 2013-05-30 19:28:53 -0500 )edit

yes sorry got it already

Astronaut gravatar image Astronaut  ( 2013-05-30 19:35:20 -0500 )edit

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Asked: 2013-05-26 20:30:33 -0500

Seen: 1,805 times

Last updated: May 27 '13