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How to use stereo camera for localization?

asked 2013-06-04 18:26:30 -0500

Keith gravatar image

I have a stereo camera and a sonar sensor, so I want to use this two sensors for localization, but I don't no use what software.Can you give me an idea?

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answered 2013-06-04 18:49:49 -0500

Try getting pointcloud from stereo data. http://www.ros.org/wiki/stereo_image_proc

You can use this 3D pointcloud to run SLAM algorithms VSLAM or maybe RGB-D SLAM.

Hope this helps..

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Thanks! Iwill try.

Keith gravatar image Keith  ( 2013-06-17 01:25:54 -0500 )edit
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answered 2013-06-04 22:23:44 -0500

You can also use the images of the stereo camera to perform visual odometry. For example, viso2_ros is a ros package that takes stereo image as input and give you the pose of the vehicle.

You can integrate both, visual odometry and sonar into a Kalman Filter, but I don't know any package to do this. Robot_pose_ekf integrates visual odometry and imu.

Hope this helps...

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Thanks! I will try.

Keith gravatar image Keith  ( 2013-06-17 01:25:30 -0500 )edit

You can also use the stereo_slam package to perform localization using only the stereo images. This package also includes the possibility to reconstruct the world using the pointclouds from the camera. See the videos in the link above ;)

Pep Lluis Negre gravatar image Pep Lluis Negre  ( 2014-09-16 02:02:24 -0500 )edit
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answered 2014-09-15 16:10:30 -0500

ROSCMBOT gravatar image

You can also use pointcloud_to_laserscan package to convert point cloud data to laser data, and then use amcl package for localizing the robot

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Asked: 2013-06-04 18:26:30 -0500

Seen: 1,926 times

Last updated: Sep 15 '14