voxblox+orb_slam2+d435i

最新推荐文章于 2025-10-26 12:19:23 发布

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最新推荐文章于 2025-10-26 12:19:23 发布 · 883 阅读

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本文档介绍了如何在Ubuntu 16.04和ROS Kinetic环境下，利用voxblox-plusplus与ORB_SLAM2结合Realsense D435i深度相机来建立3D地图。voxblox负责构建地图，ORB_SLAM2提供定位信息，两者配合实现室内环境的定位与建图。通过调整voxblox_ros的launch文件，可以实现系统间的协同工作。

To work Voxblox needs a system to provide it with three pieces of of information

1.A 3D pointcloud of the environment, this will be remapped to voxblox's pointcloud topic. There are quite a few ways to get this, we have had success using

     - Depth cameras such as the realsense or Kinetic
     - Stereo cameras such as the VI-sensor, combined with a dense stereo pipeline         (see KITTI-dataset example).
     - 3D lidars such as made by Velodyne or Ouster

2.An estimate for the 6 degree of freedom pose of the system. This can be given