Paper or concept on stereo based obstacle avoidance

[pras2020]

Is there any paper or concept available online for orb based stereo matching and obstacle avoidance, that is for the implemented code.

[aarontan-git]

@pras2020 i am also interested in this, is there any documentation explaining the concept behind the obstacle avoidance here?

[sourishg]

You can check out this paper: https://www.joydeepb.com/Publications/jpp.pdf

[hoppss]

which type of pointgray stereo camera do you use ? bumblebee ?

[sourishg]

Two Blackfly IMX 249

[hoppss]

Hi, Thanks for your help.
Could you tell you what type of blackfly imax 249 do you use ?
usb3 or gige interface are supported by this pointgrey ros dirver ?
gray or rgb color camera ? BFLY-U3-13S2C-CS? (color, usb3,30fps)

[YangSiri]

Hi, @sourishg

What if i'm using ZED on jackal. What else should i change except calibration file?

Looking forward to your help.

[sourishg]

Hi @YangSiri, you need to launch ZED using its ROS driver, and then change the camera topic names inside the code. A better way to do this would be to create a launch file and parameterize all the topic names used in the code.

[YangSiri]

Thanks, @sourishg

I will try. This is really convenient. Thanks for your work.;)