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SLAM with the Kinect

asked 2011-03-11 02:50:43 -0500

updated 2016-10-24 08:59:25 -0500

ngrennan gravatar image

To be able to do SLAM using the Kinect sensor do I need to convert the point cloud to something simulating a laser scan? I notice that there is a package called pointcloud_to_laser. Are there any examples available showing how to do this?

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answered 2011-03-11 04:25:37 -0500

Brian Gerkey gravatar image

There's a tutorial that explains how to do laser-based SLAM with a Kinect-equipped Create. It should be easy to adjust the details to your setup.

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Just out of curiosity, does the iRobot Create have an IMU ?
JediHamster gravatar image JediHamster  ( 2011-03-11 08:00:12 -0500 )edit
I have an iRobot Create and to my knowledge, it does not have an IMU. Consequently, I purchased one of these ( since there is an existing ROS package ( to support it. However, I have not yet tried it as it requires a firmware upgrade to the IMU which I have not yet had time to do.
Pi Robot gravatar image Pi Robot  ( 2011-03-11 12:32:18 -0500 )edit
you could buy a DB25 connector and solder this gyro to it connect the rate out to the analog pin and you can run that demo... :)
mmwise gravatar image mmwise  ( 2011-03-11 16:00:04 -0500 )edit

answered 2011-03-11 05:50:03 -0500

Depending on your needs, you could also use RGBD-6D-SLAM.

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This is also another more general approach which I could use, although the full 6D motion is not so critical for a differential drive robot moving on flat floors, and the SURF features could be replaced by features originating from depth structure for greater resilience to blur or low contrast.
JediHamster gravatar image JediHamster  ( 2011-03-11 08:03:49 -0500 )edit
6D-SLAM could be overkill then. It's difficult to find good features based on depth structure, though. Most are hardly as descriptive as visual features.
Felix Endres gravatar image Felix Endres  ( 2011-03-12 07:03:57 -0500 )edit

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Asked: 2011-03-11 02:50:43 -0500

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Last updated: Mar 11 '11