基于RBGD的mapping

最近学习RGBD的SLAM，收集了两个RGBD的mapping的开源工具包

 

1.RGBDSlam2

a.安装方法：

#准备工作空间
source /opt/ros/indigo/setup.bash
mkdir -p ~/rgbdslam_catkin_ws/src
cd ~/rgbdslam_catkin_ws/src
catkin_init_workspace
cd ~/rgbdslam_catkin_ws/
catkin_make
source devel/setup.bash

#获取 RGBDSLAM２
cd ~/rgbdslam_catkin_ws/src
git clone https://github.com/felixendres/rgbdslam_v2.git
cd ~/rgbdslam_catkin_ws/

#安装
rosdep update
rosdep install rgbdslam
catkin_make

b.执行方法

启动相机

roslaunch openni2_launch openni2.launch

如果使用xtion,letev的摄像头，那么需要做下消息的映射.

启动RGBDSlam

roslaunch rgbdslam openni+rgbdslam.launch

效果图

 

c.项目地址：https://github.com/felixendres/rgbdslam_v2

d.文献资料

    [1].Endres, Felix, et al. "3-D mapping with an RGB-D camera." IEEE Transactions on Robotics 30.1 (2014): 177-187.

 

２.Rtabmap

a.安装方法：请参考安装文档

b.项目地址：http://introlab.github.io/rtabmap/

c.文献资料

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