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Hand Held Mapping with any RGB camera sensor.
Description: This tutorial shows how to use bowpmap_ros with any camera sensor(default: Kinect).Keywords: bowpmap_ros, bowpmap, mapping, topological mapping, SLAM
Tutorial Level: INTERMEDIATE
Introduction
You should have a RGB camera sensor (default : kinect). It should publish data on a ros topic which can given as a input to BoWP-Map algorithm for topological mapping.
Step by Step method for BoWP-Map based mapping
* Run openni. Launch kinect to publish rgb images on a ros topic.
$ roslaunch openni_launch openni.launch
- OR
If you are using any web camera, publish its rgb images on a topic and edit the topic name in bowp_mapping.launch.
* To run bowpmap_ros node for topological mapping, launch bowp_mapping.launch:
$ roslaunch bowpmap_ros bowp_mapping.launch
* As you move in the environment, the algorithm will create nodes and recognize the previously seen places known as loop closure detection. You can see the results in a Result folder which will be created in your output directory. Each image will be either used to create a new node or it will be a loop closure with existing node. All the results will be available in the form of ros topic also (Loop Closure decision on /loopClosure and Corresponding Node Image on /loopClosureImage).
