Real Images map building

[Raksha]

Hello Mathieu,

I tried building the map with the help of RTABMap. The images that i tried working on can be found here: https://drive.google.com/drive/folders/1wLPCSVgQ650zeDay0taBw1tBVKVUWHsD?usp=sharing. I couldn't succeed. What changes are to be made in the "preferences" tab of RTABMap, please let me know.

I also tried mapping as per your explanation in this: http://official-rtab-map-forum.206.s1.nabble.com/How-to-process-RGBD-SLAM-datasets-with-RTAB-Map-td939.html but, couldn't succeed. Please let me know how to work on real images and also the necessary parameter changes to be made for https://drive.google.com/rive/folders/wLPCSVgQ650zeDay0taBw1tBVKVUWHsD?usp=sharing.


Thanks,
Raksha

[matlabbe]

Hi,

If you want to do SLAM, you cannot use only RGB images. RTAB-Map is not a MonoSLAM approach. A stereo camera of RGB-D camera is required at least. If you want to test loop closure detection only, see this page.

cheers,
Mathieu

[Raksha]

Hello Mathieu,

Thanks for the response! I am trying to do SLAM.
I first tried working with "source input" as Stereo images. But, i could not calibrate the camera (fig 1)

Later, I used the file chessboard.avi and calibrated the camera and started mapping. But, as expected, the results were wrong.

Is there a way to calibrate the camera and do SLAM with the images that i have acquired using RTABMap?

(I do not have Kinect sensor/stereo cameras. All i have is a few images captured from cell phone)
Thanks,
Raksha

[matlabbe]

No, I suggest to look at mono slam projects like LSD-SLAM or ORB-SLAM. If you have a compatible phone, ArKit or ARCore would be even better than these mono SLAM approaches.

cheers,
Mathieu