mapping when the robot make a turn

[chaoqunzhuoyue]

Hi,

      Currently I am using Rtabmap to build the map of our environment. I have noticed that the mapping process is prone to involve errors when the robot make a turn. Is there any way to improve the performance of mapping when the robot make a turn.  Any hints ?
      Thanks!

[matlabbe]

Hi,

which kind of odometry are you using?

-If rgbd_odometry is used, make sure your TF is accurately set (/base_link->/camera_link). Also, if you are using a Kinect v1, turning while extracting only visual features farther than 4 meters (more noisy) would result in bad odometry.

-If odometry is taken from the robot, try improving it (it is outside the scope of rtabmap).

cheers,
Mathieu