Raytracing using stereo camera for better SLAM and obstacle avoidance.

Posted by stevemartinov on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Raytracing-using-stereo-camera-for-better-SLAM-and-obstacle-avoidance-tp5632.html

Hi Mathieu,

I just finished reading your paper:
https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/7/7a/Labbe18JFR_preprint.pdf

And I will be honest, you gave me an interest in getting my hands dirty in computer vision!

When I was reading your paper, you mentioned that by enabling raytracing, we can improve obstacle avoidance. You have recommended placing the camera close to the ground so the ground can be visible.

I did not understand what raytracing means and thought that you meant by using LiDAR. After reading your paper, I also read about ray tracing which turns out to be a technique in computer vision!

So my questions are:
1. Will raytracing help to detect featureless or dynamic objects if I use a stereo camera?
2. If so, what is the best setting for that in RTABmap? I found that there is a param:  Grid/RayTracing=true, is that enabling 2d ray tracing? How about 3D ray tracing?

I think you know my typical environment and you have seen that I place my camera 3-4 cm above the ground.

BTW, I will reread the paper as I do not fully understand the all parameters but I just wanted to be clear with raytracing technique in RTABmap.