rtabmap odometry vs zed odometry

[rafa]

Hello all,

simple question

according to http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping#Advanced

we can use zed camera odometry or rtabmap odometry, what is the difference?

[matlabbe]

Hi,

zed odometry: proprietary visual odometry approach of StereoLabs. Not sure if there is documentation about how it is done. It may be optimized with CUDA.

rtabmap odometry: open source visual odometry approach of rtabmap, described in this paper (Section 3.1) as the F2M (Frame-To-Map) approach.

cheers,
Mathieu