Home

Target Mapping

System workflow:

Key components:

1. Target Tracking in Image

2. Target Localization

3. Coordinate Convetion

Related work

RTAB-Map has been used for RGBD mapping in Gazebo simulation, and it also supports stereo camera mapping, which is more applicable outdoors. I also tried voxblox as a pointcloud registration tool,

roslaunch target_mapping voxblox_ros.launch

However, voxblox is not very efficient in real time. More tests need to be done to figure out the reasons.