importing pointcloud maps into rtabmap for navigation

[brigit]

I have a single pointcloud of the interior of a building (highly accurate, created by a high-fidelity sensor which I am not using) with corresponding RGB pixel values that was, saved as PLY format. I would like to use this as the base map in my .db file at startup, or as a way to correct a noisy map with rtabmap. Is this possible with some hacking? I know the maps are exportable as PCD files from rtabmap, so I was hoping I could reverse the process.

The challenge with this however is that a) I don't have the corresponding images used to create this map and b) the existing map has very different scale than the maps I create with my a Primesense sensor (that is, the coordinates systems of each map are different).

thanks!

[matlabbe]

Hi,

It is not possible to use a RGB point cloud map as input to rtabmap. RGB images are required for localization.

Localizing in a 3D point cloud could be done using a Monte-Carlo localization approach and an Octomap, similar to this video: https://www.youtube.com/watch?v=bCIQ58K0vcg

cheers