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Hello Everybody,
A ROS newbie here. I'm learning ROS and currently at the file system tutorials. I'm currently running ROS on 64-bit Ubuntu 12 and soon I'm going to install it on Beaglebone Black (Angstrom).
I have a Logitech C920 webcam with hardware H264. Please suggest me 2D slam technique which can be used with my webcam and is easy to learn.
Regards, sarkar
Hi 2D SLAM gives a 2D map of the envirnment called GMAP.(Refer to http://wiki.ros.org/gmapping) GMAP gives you detailed information about the object occupancy in that 2D plane. This occupancy grid generated from gmapping gives a accurate scaled information about the actual real world. Each x and y coordinate in this 2D grid is accurate just scaled to some particular resolution, whereas in image captured from camera is a perspective image hence there is no possible transformation possible from image to real world coordinates.
2D SLAM is technique, which is quite easily be performed using lasers. Since you are a "newbie", I would suggest you to use Kinect, which is cheapest multi-sensor available.
I am not saying that it is impossible to do 2D SLAM from a webcam, but it would require a lot of knowledge and effort.
Definitely 2D SLAM is much more easier to implement that 3D SLAM, I have implemented 2D SLAM with turtlebot as well as seen people implement 2D SLAM on self built robots using navigation stack. What i believe from my experience is, 3D SLAM is harder to implement and computationally very expensive.
and the Kinect options seems reasonable. It's advantageous due to it's design as a slam and image processing sensor. Please provide a tutorial on how to use kinect for slam. However I think kinect doesn't have hardware H264 encoding that would make it difficult to use with Beaglebone.
@sarkar: I have no experience with Beaglebone Black, but i can definitely say that its not possible to perform 2D slam/ gmapping from simple IR proximity sensor, since it gives only single point distance plus the data measured is raw.
@sarkar: First of all, if you have a ROS supported robot like turtlebot,..then you just have to launch a few files. If you are working with a self made robot, then a few extra steps need to be performed before using the inbuilt packages of ROS. Let me know, which robot you are using ?
Asked: 2013-10-27 23:27:25 -0500
Seen: 1,683 times
Last updated: Oct 29 '13
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