Is it possible to get rgb from camera and depth from the lidar for loop closure detection?!
Posted by
Masoumeh on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Is-it-possible-to-get-rgb-from-camera-and-depth-from-the-lidar-for-loop-closure-detection-tp8680.html
hi.
1) my first question: is it possible to update the map while I have only 3d lidar as the main sensor and activating ICP? which parameter?
because I want the vehicle to go from base station to the specified locatiion and then comeback to the base. so I specify two location as goal, it can reach the first one, but it fails for the second one, because the map is not updating and it can not specify that it is not a new location.
2) if i have to use camera as weel to be able to have loop closure, am i able to use just an RGB camera (Axis model) and take the depth from 3d lidar??
If yes, which setting should i consider?
https://github.com/introlab/rtabmap_ros/blob/master/launch/rtabmap.launchkind regards