How does the export odometry -> Google Earth (.kml) work?

[Genozen]

Hello, I'm quite curious how does the rtabmap plot the odometry onto the Google Earth (.kml)

is it EKF between local odometry and GPS that achieved this?

[matlabbe]

GPS values are used to align the path (like when we align the path to a ground truth, minimizing the distance of corresponding poses) to some GPS coordinates (it is not super accurate unless it is a highly accurate gps, e.g., rtk), they are not used in the odometry estimation.

GPS values could be used in graph optimization if you explicitly set Optimizer/PriorsIgnored to false.