just amazing. are there any exeutable software for this*

Have you used kinect v2? Also, will this map be accurate enough to move a robot very close to the walls(obstacles) with a gap of just 2-3 cms?

@matlabbe

6 жыл бұрын

It is K4W v1 (Xbox 360). The sensor doesn't see under ~40 cm, but up to 3.5 meters, it is relatively accurate around 1 to 3 cm.

Would it be possible to use the same loop closure method for a larger scan area, say, on the order of whole city blocks?

@matlabbe

8 жыл бұрын

+Alan B Yes it can (largest area tested is about 70 km kzread.info/dash/bejne/fGx_qad6acjJg5M.html)

How many data point of this map? I mean point clouds

@matlabbe

8 жыл бұрын

+余煒森 Dont remember exactly, but the video of the mapping is 68 sec at 10 Hz, I would say 680 nodes in the map. The point cloud for each node can be generated at different resolutions (like 1pt/cm^3).

@jamesaa007

8 жыл бұрын

+matlabbe What is a node?

@matlabbe

8 жыл бұрын

+jamesaa007 The map structure is a graph with nodes and links. It is a graph-based SLAM approach.

Is the bot autonomous or remote controlled?

@matlabbe

8 жыл бұрын

+Sharath Matada In that mapping phase, it was remote controlled. In the second part of the challenge, the robot used this map to navigate autonomously to some waypoints.

@sharathmatada4135

8 жыл бұрын

+matlabbe can the mapping be achieved autonomously?

@matlabbe

8 жыл бұрын

+Sharath Matada the robot can also navigate autonomously while mapping, so yes we could use an exploration approach.

@shreyaudupa9229

7 жыл бұрын

Can you explain how one would go about using an exploration approach? Is there already code available that does this?