If you havn't seen vslam, have a look at http://ros.org/wiki/vslam ,
though it seems to be quite experimental.


2011/12/5 David <spamfuerdavid@gmx.de>:
> Hi!
>
> I am building a robot that should localize itself on a 2-dimensional plane
> by taking straight pictures of the floor and doing SLAM on this data.
>
> Because I don't want to reinvent any wheels, I decided to use ROS and did
> the tutorials and read a lot of stuff. Looking through the repositories I
> found a lot of packages doing SLAM on laser scan data, 3D point clouds or
> stereo cameras.
>
> But does anybody know some packages that do this task in 2-dimensional
> space? There are a lot of videos, in which you can see robots building up
> the groundplan of buildings. But it is always done by detecting walls or
> other obstacles in the environment beside the robot.
>
> I could not find any robots, which are interested in what lies directly
> under them. I will have some more detailled surface than carpet, though.
>
> If nobody has done something similar, it would be nice if someone with an
> better overview could point out to me, what parts of existing stacks I maybe
> could reuse and what I have to write myself.
>
>
> Probably I want to have a simulation for that robot. I played with gazebo
> and stage a bit, but I can't really decide which one is the right for me.
> The bot has a simple mechanical model and I primarily need the feature of
> getting different sections from a surface texture while moving.
>
> I would appreciate any hints or tips.
>
>
> Cheers,
> David
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