Re: Memory management and large-scale scans on iOS

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Memory-management-and-large-scale-scans-on-iOS-tp10299p10543.html

Thank you for sharing your experience. The tags can also be useful in textureless areas (empty homes) and/or a convenient way to add easily loop closures than relying on visual features: just point a tag on start of scanning, and look back again at the tag before finishing the scan. They can also be used for multi-session mapping in areas where lighting/furniture can change over time (making it more difficult to detect visual loop closures).

Note that for even less computation / memory overhead, at the trade-off of not detecting online any loop closures (even landmarks), is to use the new Data Recording mode (Menu -> Advanced -> New Data Recording). These kind of databases would need to be reprocessed offline on RTAB-Map Desktop, following examples here.

cheers,
Mathieu