Re: Using Kinect2 and LiDAR to Map and Navigate

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Using-Kinect2-and-LiDAR-to-Map-and-Navigate-tp6599p6619.html

jingyu wrote

But when the obstacles is outside the camera's range, the planned path will turn to the obstacle's position. At this time, even the camera heads the obstacle's direction, it cannot see the obstacles since they are closer.

When the robot is approaching and the obstacles enter the camera range, doesn't it detect the obstacles? I see that if the obstacles "appear" too close to robot, the camera won't see them. But if the obstacles are out of range, then the robot approaches them, it should detected them. Just make sure they are not cleared when the robot continues to approach them.

For the path planning, if there are no loop closures or proximity links between the end and beginning, rtabmap will likely plan a path to return to all past nodes. The shortcuts would be where there are loop closures and proximity links (the red and yellow links in the graph). Maybe the question is more why it didn't detect some loop closures. Do you have the database to share? The image has been also scaled, it is difficult to see the beginning (it seems at the bottom left) and the end.

cheers,
Mathieu