These are the vague steps that I have to achieve this:Ĭlean up and convert point cloud to a simpler format through some PCL algorithm The 3D camera is meant to help it avoid taller objects that the ankle LiDAR might not detect. At the moment, I am able to collect the 2d LiDAR data from my AMR and display it in RViz using marker arrays, together with the map on the AMR. However, the robot still collides into objects placed higher above that can't be scanned from the bottom like tabletops. The AMR itself is already equipped with a 2d LiDAR at ankle level which detects most objects and has a global path planning algorithm built in already. I will be working with an RGB image and a point cloud.
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