Hi I would like to implement SLAM with the Kinect for a research project. I am not sure which motion and measurement models to apply though. Would anyone be able to recommend which models I can apply to the Kinect or a good place to start. I will be using ROS. Thank you
Originally posted by ap on ROS Answers with karma: 42 on 2013-06-19
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Hi, I just did a similar project last semester. The motion will depend on the robot you are using. For the measurement model we extracted lines from the cloud of points and registered the robot with them.
Originally posted by focs with karma: 46 on 2013-06-19
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Comment by ap on 2013-06-19:
Thank you, is there a link where I could look at the models you used? (I know they are probably complex to type out) Thanks
Comment by focs on 2013-06-19:
This pdf has more or less all the needed parts: webdiis.unizar.es/~neira/SLAM.pdf
Comment by ap on 2013-06-19:
Thank you, much appreciated. Will look through.