Pointcloud transformation

[MagdaZal]

Hi! I want to add an INS to tf which will transform pointcloud from ORB SLAM2 + ROS to real world coordinate. My idea is to do a transformation so that the INS is at the rotational center of the robot.

My tf_tree looks like this: INS -> map -> base_link -> camera_link

My problem - despite the set transformation, the point cloud is saved in the orb slam system, not in the real coordinate system with INS. For my future work I have to get point cloud with world coordinates in ECEF.

Has anyone ever had this problem or can give me some advice?

[oguzhanilter]

Hi! The paper 'Visual Semantic SLAM with Landmarks for Large-Scale Outdoor Environment' might help you. They associate the point cloud of the SLAM with the real-world landmark locations taken from google.