Re: RTAB setup with a 3D LiDAR

Posted by chukcha2 on Mar 10, 2016; 4:18pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-setup-with-a-3D-LiDAR-tp1080p1124.html

Wow, the screen shots look impressive! In the first example, what is the waveform-like shape in the odometry window? It is not clear in the 3D Map window of the first two examples, whether the lidar/camera was stationary (no registration of 3D point clouds). Obviously the third example shows a moving lidar/camera setup. Looks very impressive!

However from the snapshots it is not immediately clear how accurate the 3D maps are. If it is not too much trouble could you upload a 3D map so I can take a look at it in RTAB or some other software (for example in https://sketchfab.com)?

Is this roughly what you are doing: 1) combine RBD from the camera and D from the lidar 2) use visual odometry to pre-register the frames 2) use ICP to finely register 3D point clouds

You used a monocular camera in your setup. Do you have any pointers in choosing a camera that will do the job well?
(from what I've understood so far there is no advantage to using stereo camera + velodyne vs monocular camera + velodyne)

Thank you!