Re: RTAB setup with a 3D LiDAR

Posted by matlabbe on Mar 03, 2016; 3:37pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-setup-with-a-3D-LiDAR-tp1080p1106.html

Hi chukcha2,

You will be able to use a combination of features-based and/or ICP-based odometry. For example, odometry can be computed with visual features from the ZED camera and ICP (with point clouds from the Velodyne) could be done to refine the estimated transformation. RTAB-Map will assemble a XYZRGB point cloud for the ZED camera and a XYZ point cloud for the Velodyne (in ROS it is the rtabmap/cloud_map and rtabmap/scan_map topics).

I am very near to make this release, probably next week :P

cheers,
Mathieu