Mapping

[Jimmy Notron]

hi guys
i was wondering if i can ask some question:
1)-i want to save cloud point (map) with maximum dense and quality what should i do?
2)-do you think the rtabmap odometry is suitable for autonomous exploration?

[matlabbe]

Jimmy Notron wrote

1)-i want to save cloud point (map) with maximum dense and quality what should i do?

You can open the resulting database in rtabmap standalone ("$ rtabmap myDatabase.db"), then do File->Export 3D Clouds... You will have many options to regenerate the point clouds with highest resolution.

Jimmy Notron wrote

2)-do you think the rtabmap odometry is suitable for autonomous exploration?

Like other odometry approaches, rtabmap's visual odomertry drifts over time. It is more how much drift can your autonomous exploration support overtime until a loop closure is detected. You can also combine wheel odometry, IMU, lidar or other visual odometry approaches if you want to get less-drift odometry as input to rtabmap.

cheers

[Jimmy Notron]

Thanks for reply
How can i fusion odometry data with rtabmap visual odometry?

[matlabbe]

Yes, you may have to set publish_tf parameter to false for the visual odometry node, then look at robot_localization package for sensor fusion. If you need more help on robot_localization, I recommend to check on http://answers.ros.org/.

[mantouRobot]

Hi~
      is the pkg robot_localization useful for indoor environment?

[matlabbe]

probably!