Re: Detecting sunken spaces

Posted by Sandeep Dutta on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Detecting-sunken-spaces-tp10470p10473.html

Hello Mathieu,

Thank you for the prompt response & suggestions. Our robot has two Relasense
cameras , one facing forward the other facing backwards. I am using the multi-camera
capability of RtabMAP for mapping & localization. I am feeding stereo images from the two
cameras using "stereo_sync" & odometry from an "EKF" node, the EKF fuses the IMU &
the odometry from the wheels (fairly accurate).
I am using the occupancy grid generated by RTAM-Map as the global MAP with NAV2. I tried
your suggestion and it does detect the edge and the sunken portion  is marked as unknown
as you said, however as you mentioned the ground now becomes an obstacle which does not work
for me. Is there a way I can detect the ground and mark it as free ?

Thank you once again
Sandeep