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raulmur / ORB_SLAM2

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities
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Navigation using Point Cloud, 2D Grid Map #731

Open Shubhamvithalani opened 5 years ago

Shubhamvithalani commented 5 years ago

Thanks, @raulmur Great Work. Now I have an idea. We can get the Pose Estimate, Point Cloud from Orb Slam. And so we can map a 2D Occupancy Grid Map out of it. So using the Navigation Stack of ROS we can get the global and local costmap of the environment based on the pose data. I know the Point Cloud generated is sparse but still can we do it?

20chix commented 5 years ago

same

yashagarwal9 commented 5 years ago

same query