Re: RTAB setup with a 3D LiDAR

Posted by matlabbe on Feb 24, 2016; 10:15pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-setup-with-a-3D-LiDAR-tp1080p1094.html

Hi chukcha2,

If your goal is to have a precise 3D point cloud, I would use the Velodyne. RTAB-Map is not a Monocular SLAM approach, so you would need a stereo camera. As dgmiller pointed out, the ZED camera can be a good choice (I think they are supporting the Jetson).

RTAB-Map can process data offline, if you are using a rosbag for example (you may record data at 10 Hz to get good odometry from RTAB-Map).

Note that current RTAB-Map release (0.10) doesn't support well 3D lidars like the Velodyne (it is configured for 2D lidars). RTAB-Map can still create 3D point clouds from 3D lidars but ICP cannot be used to refine the map. The next version (0.11) will officially support 3D lidars. In the mean time, you can experiment with only a stereo camera on your drone.

cheers,
Mathieu