Mapping based on the RBGD

Recently studied RGBD's slam, collected two RGBD mapping's Open source Toolkit

1.rgbdslam2

A. Installation method:

/opt/ros/indigo/setup.bashmkdir -P~/rgbdslam_catkin_ws/~/rgbdslam_catkin_ws/  ~/rgbdslam_catkin_ws/catkin_makesource devel/~/rgbdslam_catkin_ws/srcgit clone https:  //github.com/felixendres/rgbdslam_v2.gitcd ~/rgbdslam_catkin_ws/Install  Rgbdslamcatkin_make

B. Methods of implementation

Start the camera

Roslaunch Openni2_launch Openni2.launch

If you use the Xtion,letev camera, you need to do a mapping of the next message.

Start Rgbdslam

Roslaunch Rgbdslam Openni+rgbdslam.launch

C. Project Address: HTTPS://GITHUB.COM/FELIXENDRES/RGBDSLAM_V2

D. Documentation

[1]. Endres, Felix, et al. "Mapping with an rgb-d camera." IEEE Transactions on robotics 30.1 (2014): 177-187.

2.Rtabmap

A. Installation method: Please refer to the installation documentation

B. Project address: http://introlab.github.io/rtabmap/

C. Documentary information

[1]. Labbé, Mathieu, and François Michaud. "Online Global loop closure detection for large-scale multi-session graph-based slam." IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2014.

Mapping based on the RBGD