Re: rtabmap_ros outdoor 3D mapping

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-ros-outdoor-3D-mapping-tp6104p6254.html

For the reflections on the floor, assuming that we are always on the same floor, would be to filter points under xy plane. With Grid/NormalsSegmentation=false and Grid/MaxGroundHeight=0.05, we could get /rtabmap/cloud_obstacles with only points over 5 cm of the floor.

For the stereolabs answer, it seems a good idea to filter their depth image. As explained in this previous post, re-creating the depth image with OpenCV can be another option too. Not sure which option would need more processing power from OpenCV: edge detection or disparity computation.

To have good indoor 3d reconstruction, lidar or RGB-D camera is recommended (zed is a stereo camera). For outdoor, either lidar or stereo camera. In your case with the zed, you sohuld filter the depth images to remove depth values in textureless areas, so you would get relatively accurate 3d reconstruction with some holes (on textureless surfaces).

cheers,
Mathieu