Questions tagged [point-cloud]

Point cloud is a set of data points in space. It is generated by 3D scanners. Used in construction of virtual scenes of real world spaces.

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What are the state-of-the-art variants of the basic ICP algorithm for point cloud registration?

The questions is quite straightforward. For the past few days I've been looking into point cloud registration. It looks like it all started with the basic ICP algorithm as described in P. J. Besl and ...
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Self localization inside machine of interest

I have a type of flight sensor interfaced with Arduino Uno via I2C. The sensor is VL53L0X i am getting the 1D measurement value of distance in mm which i can monitor using serial monitor in Arduino ...
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2D point cloud registration success probability

I am trying to implement localisation by storing images from a camera and their accompanying point clouds from a 2D lidar during mapping. During localisation I then use image matching to suggest the ...
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ModuleNotFoundError: No module named 'second.core.non_max_suppression.nms'

I am using Anaconda base environment for second.pytorch of ubuntu 16.04 after executing the following: nvidia-docker run -it --rm -v /media/yy/960evo/datasets/:/root/data -v $HOME/pretrained_models:/...
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What is the concepts of submaps in LIDAR based graph slam algorithms?

I have been reading some slam papers recently and many of the papers mention building and performing scan matching on submaps instead of individual poses. Does it mean that a submap is just a single ...
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Applying initial guessing to LiDAR point cloud for ICP processing in Graph SLAM

I am currently in the process of implementing Graph SLAM using ICP and g2o in python 2.7 The data I have are pose data (4 x 4 transformation matrix) and lidar data ( in the format of [x y z 1] with ...
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930 views

What is the definition of the contents of PointCloud2?

What does the contents of PointCloud2 means in ROS? fields.offset? fields.datatype? ...
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265 views

How to convert PointCloud2 message to a grid?

I'm using a Velodyne sensor which publishes on /velodyne_points topic, and its class type is PointCloud2. Now I want to convert ...
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346 views

Calculating the distance of a point from point cloud data

I'm getting the x,y,z values for three points as follows: x : -0.357200 y: -0.205010 z: 0.940000 ...
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77 views

LiDAR Point cloud data reliability/quality

I'm trying to develop a quality measurement (kind of a metric) for the reliability / quality of given point cloud data (coming from a 3D LiDAR) at a given point or region. It should come into account ...
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how to find space in point cloud larger than given l*b

Is their any method by using which I can find a space or gap in given point cloud which has size greater than given rectangle of size $l*b$ or a circle of radius $r$? This way my robot can make a path ...
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93 views

Relation between GraphSLAM and Iterative closest Point algorithm

I have lots of doubts about GraphSLAM, The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures. When I practically implement it I get matrix singularity error. I taken ...
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3D mapping using only a 2D Lidar

How can I map a 3D environment using only a 2D lidar? The lidar would be hand held and it would have 6 DoF. So if I move it in arbitrary motion in all 6DoF, I expect my algorithm to generate a 3D map ...
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627 views

ROS PCL: Help with Moving Least Squares filter

I'm trying to implement a simple ROS node to perform Moving Least Squares filtering on a sensor_msgs/PointCloud2 topic. I'm following this PCL tutorial, which uses ...
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1answer
230 views

Methods for odometry/IMU/Gyro free lidar pointcloud registration for pose estimation

I am currently trying to register a pointcloud in time to find my change in position and heading at each timestep (High speed application). So this is essentially an implementation of SLAM. I am ...
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899 views

Iterative Closest Point for 2-D LIDAR Data

I have two 2-D point clouds obtained from LIDAR (Light Detection And Ranging) scans at two different poses (positions and orientations) inside a circular structure, where a small object (vertical ...
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1answer
537 views

Forward monocular stereo vision (Structure from Motion)

I am looking for a library (or algorithm) that computes 3D scene (point cloud) from 2 consecutive images of a monocular sequence. I mean something like OpenSfM but only for 2 consecutive frames and ...
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146 views

Calibrating a laser scanner to a line camera

We have a high-resolution Riegl laser scanner and mounted atop it a Resonon Pika L, which is a hyperspectral camera which records one spatial column at a time, using the second dimension of the sensor ...
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Transforming Point Cloud to get Top Down Image [closed]

My task: I have a task where I am asked to track parcels(carton boxes) of different dimensions moving on a conveyor. I am using Asus Xtion pro camera mounted on top of a conveyor in any inclined ...