RGB-D Mapping with Laser scanner

Posted by Kazu on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RGB-D-Mapping-with-Laser-scanner-tp25.html

Hi, I'm very impressed your work!

In my project, I need point clouds of the environment, so I'm using Rtabmap with Kinect.  The problem is the environment (hallway) has less landmarks, and Rtabmap becomes lost quite often.  The reason I guess is the range Kinect can measure is limited (up to 4 m; angle of view is 57 deg in horizontal).  Rtabmap works fine in the small.
Thus I added laser scanner (UTM LX-30) to improve the precision; however, the precision hasn't improved and I couldn't export the point clouds after I added laser scanner.

My question is
1) whether possible for RGB-D mapping to add laser scanner to improve the precision
2) if possible, then how I should add it

Thanks in advance,
Kazu