Dynamic Factory Environment

Posted by universez on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Dynamic-Factory-Environment-tp10047.html

Hi

I currently operate robot (drift drive) on dynamic environment within  factory.
robot using  rtabmap with 2d lidar and stereo camera ( rgbd ) with odom (wheel + imu) , every 2 day every machines on the floor will be move to another location except wall, I found the problem when
 all machines change and robot ran in  among of machines and lidar cannot see the wall at all, localization not doing good, plus factory floor sometime slip really bad.

I have own navigation waypoint system save from map frame after rtabmap created.
I need to reserved map frame, and fix bad localization problem

I have plan to do following
1.  place 2-3 markers on wall ( every 20 meters )
2. Using Mem/IncrementalMemory all the time ( Append mode )

Thank you in advance for your time and any guidance you can provide!