Hi Max and Nathaniel, In answer to the vslam question, no, it's not the same type as slam_gmapping. slam_gmapping creates a 2D map, which you can then use amcl and other 2D-based localization techniques on. vslam creates a 3D pointcloud of the environment, and at the moment AFAIK, there is no good way to save the pointcloud and then localize within it at a later time, as is possible with the gmapping maps and amcl. There is a method for place recognition within vslam_system that might be worth checking out if you want to continue down this route. An easier solution would be to do what turtlebot does for navigation: take pointclouds from either the kinect or a stereo pair, convert them into a laser scan, and use them with existing slam_gmapping and amcl applications. Check out the pointcloud_to_laserscan package ( http://www.ros.org/wiki/pointcloud_to_laserscan ) and the turtlebot_navigation package ( http://www.ros.org/wiki/turtlebot_navigation) to see how this is implemented on the turtlebot. Though the implementation is for a kinect, you should be able to do the same thing with a pointcloud from a stereo pair. Hope that was helpful, Helen On Sat, Jul 9, 2011 at 3:32 AM, Nathaniel Lewis wrote: > I also have this question, for I have a Kinect and it would be cool to use > some time of localization algorithms with it. > > Nathaniel > > On Fri, Jul 8, 2011 at 4:41 PM, Max B wrote: > >> To All: >> I have a super-cheap robot that has one webcam, and may have two, set >> up to be a stereo pair. Are there any projects working on getting >> localization from an image source or a point cloud? Also, a related >> question, does vslam create the same kind of maps that slam_gmapping >> creates? When I watched the vslam video, it looks like it's a map of >> tracking points, not a map of the environment. >> >> Thanks, >> Max >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> >> > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >