Re: Lidar based 3d SLAM in sparse feature environment

Posted by Gi_T on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Lidar-based-3d-SLAM-in-sparse-feature-environment-tp10174p10227.html

Hey Mathieu, thanks for the information about the ICP Odometry settings for the 3d Lidar. After updating the ICP parameters I was able to fly on the above mentioned map without flyaways (for the most part). Still there is quite a large Z-drift while flying (around 0.5-1m when exploring the whole map). As I'm pretty new to RTABMAP and SLAM in general parameter-tuning proves quite difficult. Do you have any tips for how to best approach such a situation?

Current config: https://github.com/TannerGilbert/rtabmap_drone_example/blob/master/launch/slam.launch