RTABMap is detecting very low keypoints

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RTABMap is detecting very low keypoints

marpeja
Hi!

I have created a cave using Blender and exported it as a collada file. Rtabmap does the mapping perfectly, but then, it isn't able to localize the robot on it.

I loaded the database viewer and realized that the number of keypoints is very very low. What's more, even being in the same position, there are lots of keypoints that doesn't match, so Rtabmap isn't able to find a loop closure and localize the robot.




Any ideas on how can I change this?