A 3d scanner for indoor/outdoor spacial mapping.
- Lidar scans need to be undistorted to remove movement influence
- Use Rtabmap to build a point cloud from lidar data
- Rtabmap can except external Odom, for this use Orbslam3. This will allow stereo (better then rgbd) vision + IMU
Intel D415 camera parameters:
https://impulsiverobotics.com/2018/04/ros-enabled-omnidirectional-robot/
Rotating 2d lidar aggressive pose estimation
https://bitbucket.org/castacks/lidar_eskf/src/master/
Rtabmap paper
https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/7/7a/Labbe18JFR_preprint.pdf
Orb slam vs rtabmap paper
https://hal.archives-ouvertes.fr/hal-02343341/document
Stereo better then rgbd or mono for orb slam
Laser distortion compensation
http://wiki.ros.org/laser_assembler
Setup
Configure orb slam for ros:
https://roboticsknowledgebase.com/wiki/state-estimation/orb-slam2-setup/
Ros wrappers For orbslams
https://github.com/thien94/orb_slam3_ros_wrapper
http://wiki.ros.org/orb_slam2_ros
Similar products
Stencil: very similar with open source software: https://youtu.be/p43xFhePRLs
How to build a 3D spinning lidar paper
https://www.tu-chemnitz.de/etit/proaut/publications/taros16.pdf