Re: 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-tp5632p5646.html

Hi,

Thanks. I place the camera close to the ground purely from the design obstructions.

So for the dynamic obstacle detection, do I need to use rtabmap_ros/obstacles_detection node at all? Or is it better to simply use move_base costmap2D?

Also, which camera is better for such environments? Pure stereo camera with wide FoV (global shutters) or depth IR cameras like ZED and Intel D435? I cannot clearly say which one should I use.

Kind regards,
Steve