Lidar SLAM with loop closure

Posted by denzle on Apr 28, 2021; 11:05am
URL: http://official-rtab-map-forum.206.s1.nabble.com/Lidar-SLAM-with-loop-closure-tp7846.html

Hi,

So I've had great success using the ouster os0-32 and the intel realsense sensors separately for mapping purposes. But over larger areas the lidar does drift and with the depth sensors i'm using april tags to help with odometry and loop closures. I'm keen to test out stereo/lidar fusion so i can obtain loop closure whilst mapping with the lidar and pick up on the tags. I have had a brief play around trying to set up both sets of sensors but haven't spent too much time on it.  

Has anyone successfully setup the ouster and realsense together? Or can anyone recommend a decent camera to use in such a setup and what changes were made to their launch file.

Cheers
Dan