rgbdslam Documentation

rgbdslam: SLAM on RGBD Data

This package can be used to register the point clouds from RGBD sensors such as the kinect or stereo cameras. The rgbdslam node can be connected easily to an octomap_server node to create a memory-efficient 3D map.

RGBD-SLAM Implements a SLAM-Frontend based on structure from motion using visual features to identify keypoints in the RGBD image of a kinect. It makes use of the g2o SLAM backend to compute a globally consistent trajectory from the individual transformations provided by the frontend.


The main classes are the following:

The following classes are mainly for communication with ROS and the user:

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Author(s): Felix Endres, Juergen Hess, Nikolas Engelhard
autogenerated on Wed Dec 26 2012 15:53:09