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Target Mapping

System workflow:
system

Key components:

  1. Target Tracking in Image

  2. Target Localization

  3. Coordinate Convetion

Related work

RTAB-Map has been used for RGBD mapping in Gazebo simulation, and it also supports stereo camera mapping, which is more applicable outdoors. I also tried voxblox as a pointcloud registration tool,

roslaunch target_mapping voxblox_ros.launch

However, voxblox is not very efficient in real time. More tests need to be done to figure out the reasons.