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Equipment:

  1. Pi 3 B
  2. Mega
  3. 2x Encoder Motor 12VDC 299RPM
  4. MPU 6050
  5. 12V bat 2000mAh
  6. LIDAR or Kinect ?

I want to implement EKF SLAM. I have referred bot NOX ROS wandering robot, Hussarian CORE and Robotics weekend. I have achieved localisation and sensor fusion of MPU and Encoder on Mega.

For the Mapping part, I am confused as to which sensor should be used either LIDAR or KINECT? What is the advantage of using both of them?

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  • $\begingroup$ Which kinect do you want to use. There is a non-neglectable differance between them... $\endgroup$ – Marco Sütterlin May 3 at 18:21
  • $\begingroup$ Just be aware that EKF slams are outdated these days. $\endgroup$ – C.O Park May 22 at 6:02
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Please see this link which will give you good idea about differences between LIDAR and Depth Cameras (Kinect is one example).

http://lidarradar.com/info/differences-between-the-lidar-systems-and-depth-camera

based on your SLAM application you can use LIDAR, Depth Camera, or both. Deciding factors are:

  • Cost of application; LIDAR is more expensive and higher performance
  • indoor, outdoor, or both
  • environment complexity; does it have walls only or many other objects
  • Required performance; LIDAR is faster in scanning
  • angle of scanning 360 or 120 or less ? LIDAR is wider coverage
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Laser and LiDAR sensors are more efficient and reliable in Navigation field rather than camera base sensor like Kinect.

I know these opensource packages that provide SLAM and Localization using LiDAR sensor which is compatible with ROS (if you are familiar to ROS) and there is rosbag file to test:


[UPDATE]:

To avoid misleading on my answer mentioned a 3D LiDAR sensor and the above packages and its rosbag tested by a 3D LiDAR Velodyne-HDL.

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Using a raspberry pi you will not have enough computational power for dealing with a Kinect. Moreover, a Kinect is sensitive in general to more artifacts than a lidar.

So take the easy path and implement a LIDAR-based SLAM for now.

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  • 1
    $\begingroup$ an RPi is able to process the data from a Kinect $\endgroup$ – FooTheBar May 3 at 8:07
  • $\begingroup$ I meant not the Kinect itself but for the SLAM algorithm based on a kinect. $\endgroup$ – guhur May 3 at 10:18
  • $\begingroup$ You can extract a single (horizontal) measurement plane from the pointcloud and use that as input for a laser-slam system. $\endgroup$ – FooTheBar May 3 at 11:04
  • $\begingroup$ Is it a good idea? In my experience, the Kinect's pointcloud has a significant number of incorrect points. I guess that extracting one line would provide a wrong mapping no? $\endgroup$ – guhur May 4 at 9:38

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