Re: Few questions regarding stereo mapping with RTAB ROS

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Few-questions-regarding-stereo-mapping-with-RTAB-ROS-tp5589p5621.html

This is what I had in mind. You could mix with a line detector using even only a mono camera, similar to car lane detection.

That kind of environment is difficult for visual and lidar localization, as it would change overtime, make it very challenging to re-localize if all the visual features have changed or if all the geometry has changed (for lidar localization) because boxes have moved. You would need a precise odometry between places/waypoints that are not changing too much so that the robot can relocalize.

In the second video, they use wireless transmitters to triangulate the agv position. A more low cost approach could be to use ArUco Markers or Apriltags for localization, a single camera would be required.

cheers,
Mathieu