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How to use pointclouds from Kinect?

asked 2013-05-29 15:38:58 -0600

Astronaut gravatar image

updated 2013-05-30 04:32:42 -0600

Philip gravatar image


I would like to use the pointclouds from the Kinect to do ICP and do lokalization with Hector Mapping or robot_pose_ekf. Is there any help how to use Kinect with pointclouds for that purpose?


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answered 2013-08-14 01:48:13 -0600

I think that your best start would be to look into the openni_launch package this will help you to get the raw data from the kinect. The next thing I would recommend is to look into the Point Cloud Library. They are very heavily tied to ROS and provide a very robust library for handling RGB-D data.

Finally PCL offers many tutorials that discuss the topics you want to look into check out the following:

  • ICP
  • Localization (map building)
  • As for robot_pose_ekf I do not know what this is but there is a ROS page here that seems to cover the concept and the use of the ROS node pretty well so please check that out.

Hope this helps. BadRobot

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Asked: 2013-05-29 15:38:58 -0600

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Last updated: Aug 14 '13