Re: RTAB setup with a 3D LiDAR

Posted by matlabbe on Mar 09, 2016; 4:41pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-setup-with-a-3D-LiDAR-tp1080p1117.html

Hi,

The ZED camera is a stereo camera with a standard baseline (12 cm). The error is actually exponential with the distance from the camera. To get better accuracy at longer ranges, the distance between the cameras should be higher (like ~1 meter for autonomous cars). If your drone flies close to objects (<15 meters), it would be not a big problem for rtabmap's odometry.

In 0.11, to create a registered depth image from lidar point cloud, you can use util3d::projectCloudToCamera() and util3d::fillProjectedCloudHoles() functions. Create a node subscribing to PointCloud2 (from velodyne) and CameraInfo (from the camera), then republish a depth image for rgbd_odometry node. Note that in this setup, the minimum requirement is a single camera + 3d lidar (velodyne).

cheers