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Hello

I would like to use the pointclouds from the Kinect to do ICP and do lokalization with Hector Mapping or robot_pose_ekf. Is there any help how to use Kinect with pointclouds for that purpose?

Thanks


Originally posted by Astronaut on ROS Answers with karma: 330 on 2013-05-29

Post score: 0

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I think that your best start would be to look into the openni_launch package this will help you to get the raw data from the kinect. The next thing I would recommend is to look into the Point Cloud Library. They are very heavily tied to ROS and provide a very robust library for handling RGB-D data.

Finally PCL offers many tutorials that discuss the topics you want to look into check out the following:

  • ICP
  • Localization (map building)
  • As for robot_pose_ekf I do not know what this is but there is a ROS page here that seems to cover the concept and the use of the ROS node pretty well so please check that out.

Hope this helps. BadRobot


Originally posted by BadRobot with karma: 91 on 2013-08-14

This answer was ACCEPTED on the original site

Post score: 1

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