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  • 基于RBGD的mapping

    最近学习RGBD的SLAM,收集了两个RGBD的mapping的开源工具包

    1.RGBDSlam2

    a.安装方法:

    #准备工作空间
    source /opt/ros/indigo/setup.bash
    mkdir -p ~/rgbdslam_catkin_ws/src
    cd ~/rgbdslam_catkin_ws/src
    catkin_init_workspace
    cd ~/rgbdslam_catkin_ws/
    catkin_make
    source devel/setup.bash
    
    #获取 RGBDSLAM2
    cd ~/rgbdslam_catkin_ws/src
    git clone https://github.com/felixendres/rgbdslam_v2.git
    cd ~/rgbdslam_catkin_ws/
    
    #安装
    rosdep update
    rosdep install rgbdslam
    catkin_make

    b.执行方法

    启动相机

    roslaunch openni2_launch openni2.launch

    如果使用xtion,letev的摄像头,那么需要做下消息的映射.

    启动RGBDSlam

    roslaunch rgbdslam openni+rgbdslam.launch

    效果图

    c.项目地址:https://github.com/felixendres/rgbdslam_v2

    d.文献资料

        [1].Endres, Felix, et al. "3-D mapping with an RGB-D camera." IEEE Transactions on Robotics 30.1 (2014): 177-187.

    2.Rtabmap

    a.安装方法:请参考安装文档

    b.项目地址:http://introlab.github.io/rtabmap/

    c.文献资料

        [1].Labbé, Mathieu, and François Michaud. "Online global loop closure detection for large-scale multi-session graph-based slam." 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2014.

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  • 原文地址:https://www.cnblogs.com/cv-pr/p/5650636.html
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