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To be able to do SLAM using the Kinect sensor do I need to convert the point cloud to something simulating a laser scan? I notice that there is a package called pointcloud_to_laser. Are there any examples available showing how to do this?


Originally posted by JediHamster on ROS Answers with karma: 995 on 2011-03-11

Post score: 2

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There's a tutorial that explains how to do laser-based SLAM with a Kinect-equipped Create. It should be easy to adjust the details to your setup.


Originally posted by Brian Gerkey with karma: 2916 on 2011-03-11

This answer was ACCEPTED on the original site

Post score: 3


Original comments

Comment by mmwise on 2011-03-11:
you could buy a DB25 connector and solder this gyro to it http://www.sparkfun.com/products/9059... connect the rate out to the analog pin and you can run that demo... :)

Comment by Pi Robot on 2011-03-11:
I have an iRobot Create and to my knowledge, it does not have an IMU. Consequently, I purchased one of these (http://www.sparkfun.com/products/9623) since there is an existing ROS package (http://www.ros.org/wiki/imu_9drazor) to support it. However, I have not yet tried it as it requires a firmware upgrade to the IMU which I have not yet had time to do.

Comment by JediHamster on 2011-03-11:
Just out of curiosity, does the iRobot Create have an IMU ?

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Depending on your needs, you could also use RGBD-6D-SLAM.


Originally posted by Felix Endres with karma: 6468 on 2011-03-11

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Post score: 1


Original comments

Comment by Felix Endres on 2011-03-12:
6D-SLAM could be overkill then. It's difficult to find good features based on depth structure, though. Most are hardly as descriptive as visual features.

Comment by JediHamster on 2011-03-11:
This is also another more general approach which I could use, although the full 6D motion is not so critical for a differential drive robot moving on flat floors, and the SURF features could be replaced by features originating from depth structure for greater resilience to blur or low contrast.

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