Simplest method of 3D mapping a room with kinect sensor
Hello everyone, I am new to the ROS community.
I am a student at University of California, Santa Cruz and currrently working on a project which requires 3D mapping of the room. In short, my project is to create a robot which rides along a rail on the ceiling with an arm an a Kinect mounted on it. My subteam and I are responsible for mapping the room with the Kinect and controlling the arm and the cart on the ceiling.
Before joining this project, my team and I have no prior experience with ROS or computer vision. After many hours of tutorials, reading and experimenting with the point cloud library, we managed to learn how the sensor work.
Our next goal is to be able to reconstruct a 3D map of a room. After some research, there are many methods of doing this, such as, RGBDSLAM, Octomap, and OpenCV libraries. I was hoping the ROS community can guide us to picking the simplest way we can map a room with a Kinect, given we can have multiple Kinects and can access the entire room. The project is a proof of concept and we do no require much optimization for computational speed.
My first attempt at this would be Octomap, but having some trouble compiling. If anyone can lend us any guidance, that would greatly appreciated.
Thank you.
In my POV there isn't a one package in ROS that will just work out of the box. OctoMap, last I checked, was about the representation of the space and not 3D reconstruction. The best I have seen working though were large scale KinFu from PCL and https://github.com/ccny-ros-pkg/ccny_rgbd_tools.
Hi there, did you managed to create the map successfully. I am having Robotino and a kinect sensor, ubuntu 14.4 and ROS Indigo version. In my robot there is no laser scanner. Kinect publishes pointclou2 version data and Distance sensors publishesh pointcloud data. Also odeometry data is available...
But I am not able to create a map and having trouble. Can anyone please suggest me how can I do this. Thanks in advance.