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Note: This tutorial assumes that you have completed the previous tutorials: Stereo Hand-Held Mapping, Setup RTAB-Map on Your Robot!.
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Stereo Outdoor Mapping
Description: This tutorial shows how to do stereo mapping with RTAB-Map. Tutorial Level: INTERMEDIATE Next Tutorial: Stereo outdoor navigation
Contents Introduction 3D Mapping Configuration ROS bags Launch Results Community Stereo Odometry viso2_ros fovis_ros
Introduction In this demo, I will show how to setup RTAB-Map with only a Bumblebee2 stereo camera. The big advantage of using the stereo camera over the Kinect is for outdoor mapping. Unlike all my other demos with a robot so far, where it was constraint to the ground plane (3 DoF), here the robot (AZIMUT3) maps a 3D ground in 6DoF. Even if the map is 3D, a 2D occupancy grid map can be generated for navigation and obstacles can be detected.
3D Mapping Configuration
ROS bags stereo_outdoorA.bag stereo_outdoorB.bag Launch $ roslaunch rtabmap_demos demo_stereo_outdoor.launch $ rosbag play --clock stereo_outdoorA.bag [...] $ rosbag play --clock stereo_outdoorB.bag File demo_stereo_outdoor.launch (Updated 2015/10/31): Results Resulting database: stereo_outdoor.db Exported 3D cloud: stereo_outdoor.ply or view it on Sketchfab
Odometry With loop closures Occupancy grid
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Community Stereo Odometry You can run the bags with your odometry approach or with other community approaches. Here examples on how to use viso2_ros or fovis_ros with the launch file above. viso2_ros viso2_ros fovis_ros fovis_ros |
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