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I've seen localization based on the ceiling image mentioned a few places[1],[2] but its not clear to me if a ros package like RGBDSLAM or RTABMAP can be used with a kinect pointing at the ceiling ? If not, is there another package that can be used to perform SLAM and then localization based on the ceiling ?

[1] https://www.ri.cmu.edu/pub_files/pub1/thrun_sebastian_1999_1/thrun_sebastian_1999_1.pdf [2] http://www.iros2014.org/program/kinect-robot-navigation-contest


Originally posted by robotSamir on ROS Answers with karma: 46 on 2015-12-18

Post score: 0

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Hi,

RGBDSLAM and RTABMAP are visual features-based SLAM, so if the ceiling has enough visual features and there are some discrimitive area (for localization/loop closure), they may work. The ceiling must be also in the depth range of the camera.

Note that RTABMAP can also work with only a RGB camera to detect loop closures (localization). This mode could be used to localize the robot based purely on the location appearance (e.g., it will tell that you are "near" a location in the map, without transformation estimation).

cheers, Mathieu


Originally posted by matlabbe with karma: 6409 on 2015-12-18

This answer was ACCEPTED on the original site

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Original comments

Comment by robotSamir on 2016-01-19:
Mathieu,where can I find instructions to perform map building and localization using a single RGB camera ?

Comment by matlabbe on 2016-01-19:
Search MonoSLAM keyword. Some newest open source approaches: ORB_SLAM and LSD-SLAM

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