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cartographer-project / cartographer

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
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Difference between 2D and 3D? (question) #1150

Closed ekow-mensah closed 6 years ago

ekow-mensah commented 6 years ago

Hi, Please forgive me I am a real amateur and I just really want to understand whether I could use Cartographer 3D for my application. Please what are the differences between 2D and 3D? I tried running the bag examples and I could not see any differences in terms of the map that was constructed. I'm planning to use a drone or a mobile robot to avoid obstacles using the Map so I will need depth information. Do you think this will be possible with Cartographer 3D?

kdaun commented 6 years ago

The 2D pipeline estimates a trajectory of 3DoF (x,y, yaw) poses by matching 2D scans (or 2D scan slices) in 2D submaps. In contrast, the 3D pipeline estimates a trajectory of 6DoF (x,y,z, roll, pitch, yaw) poses by matching 3D scans in 3D submaps. For 3D maps created with the 2D pipeline the scans are projected in 3D space based on 3DoF poses. Using Cartographer for SLAM on a mobile robots is common application. For discussions about using Cartographer with a drone please take a look at https://github.com/googlecartographer/cartographer/issues/1134 and https://github.com/googlecartographer/cartographer/issues/459.

ekow-mensah commented 6 years ago

Hi kdaun thank you for your answer. So then is it possible to render a 3D occupancy map?

kdaun commented 6 years ago

Currently, we do not publish 3D maps. See https://github.com/googlecartographer/cartographer_ros/issues/720 and https://github.com/googlecartographer/cartographer_ros/issues/330.

ekow-mensah commented 6 years ago

@kdaun Thank you very much for your help i really appreciate it I will close this issue now.