What settings would you recommend for 3D visual odometry and mapping in such environment (low-texture, Gazebo simulation)?

[vkpankov]

With the default settings - in the beginning everything is fine, but somewhere on the third way visual odometry starts to drastically drift, especially along the axis y.
As far as I understand reason is a low-texture environment.
Is it possible to get good odometry results in it?



And which loop closure settings are better suited? With the current, the whole map "collapses" after a while. As I understand this is because the loop closure algorithm confuses some parts of the map with others

Example of "strange behavior" of map:



Sorry for my English. Hope for your help!

[matlabbe]

Hi,

To be more robust to wrong loop closures that are caused by identical locations, you can decrease RGBD/OptimizeMaxError parameter.

Only featureless wall environment is very challenging for visual odometry. Maybe add some paintings/pictures on the wall?

cheers,
Mathieu