Localization with an RBG camera

[usman]

Hi
I want to know whether the image feed from an RGB camera can be used for localization in RTAB-Map?

If I use a 2D lidar and an RGB camera for mapping, when I switch to localisation mode in RTAB-map, will the image feed from the RGB camera be used for the initial localization along with the lidar laser scans?

If yes, is it possible to configure RTAB-map to make use of only the image feed for initial localization without using laser scans.

[matlabbe]

You can set Mem/StereoFromMotion=true during the mapping phase. I recommend to keep Reg/Strategy=1 all the time to refine the loop closures detected with your 2D lidar.

In some cases, setting Vis/EstimationType=2 may also be necessary.

cheers,
Mathieu

[usman]

Thank you