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ydsf16 / dre_slam

RGB-D Encoder SLAM for a Differential-Drive Robot in Dynamic Environments
https://www.mdpi.com/2072-4292/11/4/380
GNU General Public License v3.0
180 stars 57 forks source link

Wheel encoder data and other datasets #3

Open dinarkino opened 4 years ago

dinarkino commented 4 years ago

Hi! Thank you for the project! I successfully built dre_slam and ran your examples. Everything worked very well!

1) My first question is it possible to run an algorithm without wheel encoder data? I tried to use Robot SLAM sequences from the tum-RGB-D dataset, using only images and depths, and for some reason, I even can't see features and path in rviz. 2) Also, did you try to run dre_slam on any other dataset with wheel encoder data? It seems that such kind of data isn't very popular, and examples could be very helpful.

dinarkino commented 4 years ago

One more question related to wheel encoder data. I found that you use values in the form of ticks. Is it possible to use already processed wheel encoders data in the form of position?