SLAM with the Kinect

Kinect
SLAM

asked 2011-03-11 02:50:43 -0600

JediHamster
995 ●42 ●53 ●59 http://sluggish.dyndns.org/

updated 2016-10-24 08:59:25 -0600

ngrennan
1 ●1 ●1

To be able to do SLAM using the Kinect sensor do I need to convert the point cloud to something simulating a laser scan? I notice that there is a package called pointcloud_to_laser. Are there any examples available showing how to do this?

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answered 2011-03-11 04:25:37 -0600

Brian Gerkey
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There's a tutorial that explains how to do laser-based SLAM with a Kinect-equipped Create. It should be easy to adjust the details to your setup.

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Just out of curiosity, does the iRobot Create have an IMU ?

JediHamster ( 2011-03-11 08:00:12 -0600 )edit

I have an iRobot Create and to my knowledge, it does not have an IMU. Consequently, I purchased one of these (http://www.sparkfun.com/products/9623) since there is an existing ROS package (http://www.ros.org/wiki/imu_9drazor) to support it. However, I have not yet tried it as it requires a firmware upgrade to the IMU which I have not yet had time to do.

Pi Robot ( 2011-03-11 12:32:18 -0600 )edit

you could buy a DB25 connector and solder this gyro to it http://www.sparkfun.com/products/9059... connect the rate out to the analog pin and you can run that demo... :)

mmwise ( 2011-03-11 16:00:04 -0600 )edit

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answered 2011-03-11 05:50:03 -0600

Felix Endres

6468 ●28 ●57 ●93 http://www.informatik....

Depending on your needs, you could also use RGBD-6D-SLAM.

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This is also another more general approach which I could use, although the full 6D motion is not so critical for a differential drive robot moving on flat floors, and the SURF features could be replaced by features originating from depth structure for greater resilience to blur or low contrast.

JediHamster ( 2011-03-11 08:03:49 -0600 )edit

6D-SLAM could be overkill then. It's difficult to find good features based on depth structure, though. Most are hardly as descriptive as visual features.

Felix Endres ( 2011-03-12 07:03:57 -0600 )edit

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