Kinect and lidar sensor fusion

introlab / rtabmap

RTAB-Map library and standalone application

https://introlab.github.io/rtabmap

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Open tianking87 opened 5 years ago

tianking87 commented 5 years ago

Thanks for your project.Would you please tell me how should I use this project do sensor fusion with kinect v1 and lidar? I'm a slam beginner and had saw the website http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot#Kinect_.2B-_2D_laser but I cannot understand completely.

matlabbe commented 5 years ago

Can you describe more the application? Is it on a robot? Do you have also access to wheel odometry? Is the laser used to scan in 2D?

The demo you linked is meant for 2D mapping on robot without wheel odometry. If you have wheel odometry, look at the first example on that page, which describes most parts. If you look to something more theoretical, see the paper "RTAB-Map as an Open-Source Lidar and Visual SLAM Library for Large-Scale and Long-Term Online Operation".

cheers, Mathieu