Lost Visual Odometry

[rishavgh]

Hello,

I have been able to create a map of my gazebo world using rtabmap and now I am trying to do robot navigation using move_base. However, rtabmap rgbd odometry gets lost right after the robot starts moving. I have seen the lost odometry section from this page but even after increasing the update rate of the camera plugin, the odometry could not be resolved.

Here is a video of that happening:


Here is the bag file:
lost_odom.bag

Here is the rtabmap database file:
rtabmap5.db

This is the launch file that I am using.

I get the following output as the error/warning:
[ WARN] (2020-10-23 10:05:09.417) OdometryF2M.cpp:533::computeTransform() Registration failed: "Not enough inliers 0/70 (matches=0) between -1 and 426"
[ INFO] [1603472709.417447598, 13036.950000000]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.038082s
[ WARN] (2020-10-23 10:05:09.539) Rtabmap.cpp:2533::process() Rejected loop closure 126 -> 5093: Not enough inliers 0/70 (matches=39) between 126 and 5093
[ INFO] [1603472709.590285630, 13037.099000000]: rtabmap (5093): Rate=1.00s, Limit=0.000s, RTAB-Map=0.1666s, Maps update=0.0378s pub=0.0051s (local map=3891, WM=3891)
[ WARN] (2020-10-23 10:05:09.713) OdometryF2M.cpp:533::computeTransform() Registration failed: "Not enough inliers 0/70 (matches=0) between -1 and 427"
[ INFO] [1603472709.714020711, 13037.190000000]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.036792s
[ WARN] (2020-10-23 10:05:09.997) OdometryF2M.cpp:533::computeTransform() Registration failed: "Not enough inliers 0/70 (matches=0) between -1 and 428"
[ INFO] [1603472709.997688472, 13037.429000000]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.037273s
[ WARN] (2020-10-23 10:05:10.288) OdometryF2M.cpp:533::computeTransform() Registration failed: "Not enough inliers 0/70 (matches=0) between -1 and 429"

Please help me figure out what paramters I need to change so that it can find the appropriate inliers.

[matlabbe]

Hi,

In simulated environment like that, rgbd_odometry won't work very well. Don't set Kp/RoiRatios on rgbd_oodmetry, you are filtering all close features useful for odometry (well, you can remove this whole part). With odometry node, use Vis/DepthAsMask, not Mem/DepthAsMask.

Your map was created with husky's odometry? Why not using it during localization/navigation too? The map looks relatively good.

cheers,
Mathieu