ORB_SLAM2
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Pointcloud transformation
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?
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.