Mezzanine Mapping,Aisle get merged

[jeyakaranm]

Hi ,

I am currently trying do rtabmap with wheel odometry in mezzanine area. The issue I face is during the loop closure the aisles get merged into one. Not sure which parameter need to be tuned. Kindly suggest me if there is any different approach I can use. Thanks in advance.



 https://drive.google.com/file/d/1o45dMzPW-3mcjm3-p4PWhIOnxwHkQ68T/view?usp=sharing

[matlabbe]

Hi,

you can decrease the local radius ("RGBD/LocalRadius") to 2 meters for example, to avoid loop closures with the other aisle.

For ICP, you could also decrease the correspondence distance "Icp/MaxCorrespondenceDistance" or increase "Icp/CorrespondenceRatio" to make sure you have a good overlap between scans to accept the loop closure.

cheers,
Mathieu