RTABMAP can't aware the same place.

[Tony Liu]

Hi,
I launch rtabmap node a period of time in the same place, then turn off the rtabmap and look the result database generated by rtabmap using rtabmap-databaseViwer.
I happen the image is matched best with itself, but poor with others. Is it normal?

I upload my rtabmap.db to google drive, the link is shows below:
https://drive.google.com/file/d/0B9ML8IwBw6SiaElvTFJab2NCTU0/view?usp=sharing

[matlabbe]

Hi,

Note that database viewer only shows unique matches. If there are words found multiple times in the same image, they won't be pink. Also, the depth image is used to extract features (as a mask). The images in the database have poor depth information on the bottle, making feature extraction not exactly the same across captured images (depth is flickering/noisy).


Here I tried with my Kinect. Note how the depth is less noisy under features extracted and that there are more matches:


cheers,
Mathieu

[Tony Liu]

Thanks your feedback  
Now I know the root cause of this problem. and I will try to resolve it.
BTW, my camera is Realsense R200.
Did you used this camera on your Rtabmap slam before? If did, what's the performance on it?

[matlabbe]

Hi,

No I didn't try R200 for SLAM.