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Hi!

I need to create a 3D map with an ArDrone 2.0 in real time (while the drone's still acquiring data), but its camera doesn't have a depth sensor, otherwise the RGBDSLAM would be a good choice, i guess. I've read some questions about that but didn't find a way to do it online. I found this video about monocular SLAM but it creates a depth map only.

Is there a package that i could use to help me with that?

Any thoughts?

Thanks in advance!!


Originally posted by Phelipe on ROS Answers with karma: 74 on 2015-07-10

Post score: 2


Original comments

Comment by Po-Jen Lai on 2015-07-10:
Why is the map built from LSD-SLAM not enough? The output map is point cloud.

Comment by Phelipe on 2015-07-10:
Thanks for your response! Is this choice the better one since i need a 3D map to navigate through? I'm looking for more options to consider. (PS.: This package works for ROS indigo and fuerte, i'm using the hydro version, is that a problem?)

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1 Answer 1

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Yeah, since you want to navigate, the map is quite important.

tum_ardrone is a good starting point, but instead of PTAM, you can try ORB SLAM. ORB SLAM works for ROS Hydro, so it might be a good choice.


Originally posted by Po-Jen Lai with karma: 1371 on 2015-07-10

This answer was ACCEPTED on the original site

Post score: 2


Original comments

Comment by Phelipe on 2015-07-17:
Unfortunately the probabilistic semi-dense mapping module isn't available for ORB SLAM yet, so i don't know a way to create the 3D map with this package, i'm testing LSD SLAM instead.

Comment by Po-Jen Lai on 2015-07-19:
Yeah, but the navigation part might not be easy. Have fun!

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