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Navigating using RGBDSLAM

asked 2013-05-27 05:22:52 -0500

Zayin gravatar image

updated 2014-01-28 17:16:40 -0500

ngrennan gravatar image

Has anyone used RGBDSLAM for navigation and/or obstacle avoidance? If yes, are there any available packages? I was thinking of combining RGBDSLAM with the explore package, but I might not have enough experience yet to program it myself.

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What kind of camera are you using for RGBD slam??

ayush_dewan gravatar image ayush_dewan  ( 2013-05-27 07:13:59 -0500 )edit

Asus Xtion

Zayin gravatar image Zayin  ( 2013-05-27 07:24:55 -0500 )edit

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answered 2013-05-27 07:53:39 -0500

I am not sure whether a specific package exist for exploring using RGBD slam. If exploring is ur final aim then u can use pointcloud_to_laserscan package and then, those laserscan can be used to create 2d map which can be used for exploration. Checkout turtlebot navigation packages. It covers lot of details but instead of a stereo camera, it uses Kinect.

Hope this helps...

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Thanks, I will look into that. However, that means that the robot could bump into higher objects that can't be detected on a 2D floor map.

Zayin gravatar image Zayin  ( 2013-05-27 08:56:49 -0500 )edit

If there are some objects hanging in the air, then it might happen ...

ayush_dewan gravatar image ayush_dewan  ( 2013-05-27 17:29:03 -0500 )edit

My robot is about 1m high (it has an arm, etc), so it could bump into a table with legs or something of the sort. That's why I wanted to use 3D nav & obstacle avoidance. I guess I could extract a few 2D maps at different z coordinates.

Zayin gravatar image Zayin  ( 2013-05-28 05:12:39 -0500 )edit

So did you make any progress with this? Actually, I am working on a similar project and would really appreciate it if you could help me out. Thanks..

gautam2410 gravatar image gautam2410  ( 2013-08-12 20:56:53 -0500 )edit

Unfortunately, I haven't. I realized that my robot's computer lacks GPU resources to use RGBDSLAM for such a task... The program becomes too slow after mapping a small room. Hence, I'm just using the standard explore package.

Zayin gravatar image Zayin  ( 2013-08-13 05:06:50 -0500 )edit
Zayin gravatar image Zayin  ( 2013-08-13 05:06:58 -0500 )edit

I'll look into the modified explore package you developed...Thanks

gautam2410 gravatar image gautam2410  ( 2013-08-13 19:57:21 -0500 )edit

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Asked: 2013-05-27 05:22:52 -0500

Seen: 874 times

Last updated: May 27 '13