最近學(xué)習(xí)RGBD的SLAM，收集了兩個(gè)RGBD的mapping的開源工具包

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1.RGBDSlam2

a.安裝方法：

#準(zhǔn)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(zhí)行方法

啟動(dòng)相機(jī)

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(dòng)RGBDSlam

roslaunch rgbdslam openni+rgbdslam.launch

效果圖

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c.項(xiàng)目地址：https://github.com/felixendres/rgbdslam_v2

d.文獻(xiàn)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(xiàng)目地址：http://introlab.github.io/rtabmap/

c.文獻(xiàn)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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轉(zhuǎn)載于:https://www.cnblogs.com/cv-pr/p/5650636.html

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