This paper describes a toolkit implementation for developing a disparity map and point cloud of images taken with a stereo camera. Though there are ready-made solutions for this task, the point cloud they provide shows issues with accuracy and has other weaknesses that make it problematic to use such solutions in real-life environment for a robot to navigate inside a building. The outcome of this work is a ROS package allowing to create a disparity map and point cloud that show considerably higher quality and are applicable for mapping in real life environment.
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