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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..
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...
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 ;)
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
Asked: 2013-06-04 18:26:30 -0500
Seen: 2,351 times
Last updated: Sep 15 '14
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