can rtabmap fusion indoor environment as good as ElasticFusion?

[mantouRobot]

Hi~
      I used rtabmap in the indoor environment, but I found that I can't adjust the params to have a good environment fusion as good as ElasticFusion. I think the rtabmap is not suited for the environment fusion. What's u opion?
      Thank u so much about the discussion.

[prashanth]

Can we know what camera you are using for indoor(i.e stereo or depth camera)

[mantouRobot]

RGBD camera

[mantouRobot]

Hi~
       I am only use the RGBD camera.
     

[matlabbe]

Do you have a comparison in RVIZ between ElasticFusion and RTAB-Map outputs of the same mapping session?