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how to perform localization based on ceiling

asked 2015-12-18 00:23:57 -0600

robotSamir
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I've seen localization based on the ceiling image mentioned a few places[1],[2] but its not clear to me if a ros package like RGBDSLAM or RTABMAP can be used with a kinect pointing at the ceiling ? If not, is there another package that can be used to perform SLAM and then localization based on the ceiling ?

[1] https://www.ri.cmu.edu/pub_files/pub1... [2] http://www.iros2014.org/program/kinec...

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answered 2015-12-18 08:58:01 -0600

matlabbe

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Hi,

RGBDSLAM and RTABMAP are visual features-based SLAM, so if the ceiling has enough visual features and there are some discrimitive area (for localization/loop closure), they may work. The ceiling must be also in the depth range of the camera.

Note that RTABMAP can also work with only a RGB camera to detect loop closures (localization). This mode could be used to localize the robot based purely on the location appearance (e.g., it will tell that you are "near" a location in the map, without transformation estimation).

cheers, Mathieu

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Mathieu,where can I find instructions to perform map building and localization using a single RGB camera ?

robotSamir ( 2016-01-19 20:46:14 -0600 )edit

Search MonoSLAM keyword. Some newest open source approaches: ORB_SLAM and LSD-SLAM

matlabbe ( 2016-01-19 21:08:04 -0600 )edit

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Asked: 2015-12-18 00:23:57 -0600

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Last updated: Dec 18 '15

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