Is there a library for indoor mapping for the Kinect 2.0?

Question

I am exploring the capabilities that a Kinect has, that can be used in the robotics field.

I am working on a telepresence robot where the Kinect is an important component of the robot. It is in fact the component that is used in order to generate a map of where the robot is located, so that it can navigate smoothly and avoid the obstacles in front of it. As I searched on similar projects, I found some applications that are closer, if not the same of what I want to do. The closest application to my research is the folling project done by MIT

What I know so far is that the techniques involved in that process are:

• 3D Mapping
• 3D point Cloud
• Simultaneous Localization and Mapping (SLAM)

I currently succeeded in generating a 3D point cloud using the following tutorial , but did not know what to do next.

I would love to have any information that can be helpful, either a tutorial or a library or something similar. Basically a starting point

Answer 1

另一个需要研究的选项是Prepose Scripting language ，微软研究院和 Kinect 团队在大约 18 个月前推出了该语言。

Answer 2

I think that this library is what you are looking for:

http://pointclouds.org/

And I'm actually quite surprised that you haven't found it before as you are using the tag of that precise library on your question.

It has a bunch of tutorials here:

http://pointclouds.org/documentation/tutorials/#io

Many of those related with the use of Kinect.

And for given you a little more guidance on your personal interest, you should check this implementation of KinFu:

http://pointclouds.org/documentation/tutorials/using_kinfu_large_scale.php#using-kinfu-large-scale

Hope this is what you were looking for.