基于RBGD的mapping

最近學習RGBD的SLAM，收集了兩個RGBD的mapping的開源工具包

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1.RGBDSlam2

a.安裝方法：

#準備工作空間
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#獲取 RGBDSLAM２
cd ~/rgbdslam_catkin_ws/src
git clone https://github.com/felixendres/rgbdslam_v2.git
cd ~/rgbdslam_catkin_ws/#安裝
rosdep update
rosdep install rgbdslam
catkin_make

b.執行方法

啟動相機

roslaunch openni2_launch openni2.launch

如果使用xtion,letev的攝像頭，那么需要做下消息的映射.

啟動RGBDSlam

roslaunch rgbdslam openni+rgbdslam.launch

效果圖

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

d.文獻資料

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

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２.Rtabmap

a.安裝方法：請參考安裝文檔

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

c.文獻資料

? ? [1].Labbé, Mathieu, and Fran?ois 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.

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