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Re: RTAB setup with a 3D LiDAR

Posted by matlabbe on Mar 14, 2016; 9:32pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-setup-with-a-3D-LiDAR-tp1080p1135.html

Hi,

Indeed, the point cloud is downsampled x10 and a voxel grid of 30 cm is applied (130 000 pts per scan to ~5 000 pts per scan) to reduce ICP time so that Visual-ICP odometry can be done in ~100/120 ms (laptop 2010). The data used is from the KITTI dataset, the LiDAR is a Velodyne HDL-64E. Note that we can save the raw laser scans in the database and do the filtering when required (to export all points). I cannot upload to full scan to sketchfab (>50MB), so there it is: kitti07_fullscan.ply (12 846 629 pts).

I don't have experimented on full 6DoF the LiDAR. If you find a dataset which contains such motion, send me the link :P

The same problem can occur with a stereo camera if the drone is moving too fast so that there is no overlap between images. How fast you can go is dependent on how fast you can compute the odometry. You can also look at the project libpointmatcher, which has many examples with Velodyne sensors (working only with this sensor, no camera needed).

cheers