Handheld Mapping System: Schloss Dagstuhl New Building Dataset
Why Robotics Stack Exchange recommends it
Robotics Stack Exchange users link it as a concrete example of hector_slam handling glass walls and reflective surfaces, and as a target for building a similar handheld mapper.
Recommended by 1 people across 1 different months, 2012 to 2015.
What it is
A short demo from TeamHectorDarmstadt of odometry-free 2D SLAM using a handheld rig with a Hokuyo UTM-30LX lidar, a low-cost IMU and an Intel Atom CPU. It was recorded in the new building at Schloss Dagstuhl, and the dataset and hector_slam ROS packages are released as open source.
What people said
Recommends AlexR · 2015-02 · Robotics Stack Exchange · on “Laser Rangefinder behind a transparent glass surface”
No, there wont be any problems with the signal. But the sensor will generate the data as an empty area. If you are doing SLAM and navigating the robot through a long area consisting of only glass windows on a side, you will have trouble getting a decent map. For a good map its advisable to have some features that are within the range of your laser sensor. You can checkout this video [this video] where a handheld mapping system is developed by the Hector guys and they moved in a corridor with glass panes on one side, but since the laser sensor that they used has a pretty good range (30 m) it can still detect features beyond the glass panels and creates a good map using hector_mapping [LINK] . Orig
Cites DanielAkaAhboon · 2012-05 · Robotics Stack Exchange · on “Kinect doing Hector Slam”
Hi all. I'm currently doing a project in school regarding 2D mapping. I'm given a Kinect only. After some trying, I'm able to get a map out of it, using hector_slam and fake_laser codes. However, with any fast movement ( actually not that fast ), the map will just be totally ruined. Moreover, even if the kinect is stationary, it will appear to be vibrating. During the process of mapping, it is also very prone to drifting which caused distortion to the map. May someone please tell me how can I improve on this, will an IMU improve the process of mapping? My task is to do something similar to this : link [this video] , but using a Kinect instead. Help and guidance will be extremely appreciated as th
Cites Stefan Kohlbrecher · 2014-01 · Robotics Stack Exchange · on “Problem with laser scan Hokuyo and windows/glass”
For the video you mention [this video] we didn't do any special filtering for reflective surfaces, but just let the system cope with the effects. Reflections are actually often reproducible and to the LIDAR/SLAM system things really look like there's "a room behind the mirror", with the "room" actually being used for scanmatching. It gets a little ugly if a robot tries to drive into this room of course (or if phantom obstacles are generated in otherwise free space). Actually detecting reflective/mirror surfaces reliably can be quite tricky and I don't know of a available open source solution for ROS for achieving that task. A classic advice would be "use another sensor with a different sensing mo