How to limit teleportation distance in localization mode?
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I have one L515 in front of robot as main source of data for RTAB-Map and when in stands perpendicular to a wall, it may teleport robot a few meters away to another similar wall in different room. Is there any built-in mechanism to limit localization distance? I've found Robust Graph Optimization and now plan to try it out when I'll have chance to install GTSAM, but for now, I thought maybe there some parameter I'm missing inside rtabmap that would limit localization distance?
From practice, I can say that localization on my map happens once in 1-5 secs and, considering relatively low robot movement speed, it won't move away more than 1-2 meters away between localization events.
Looking forward for you comments on this, thanks in advance
Re: How to limit teleportation distance in localization mode?
Yes, I use wheel odometry (perfect in simulation, as I understand) as guess for icp_odometry node. I doubt that teleportation is caused by icp_odometry (can icp_odometry teleport robot several meters away?). It seems more like rtabmap finds a scene similar to the one seen by the camera in the database and teleports the robot there.
For instance, if I move close to one of these similar places (red arrows), rtabmap will accidentally localize to another one. Scenes in both places contain practically identical walls of low res wood texture. I would like to restrict rtabmap from localize more than 1-2 meters away from /icp_odom to prevent such teleportation behavior.