Posted by matlabbe on URL: http://official-rtab-map-forum.206.s1.nabble.com/Global-relocalization-with-ICP-SLAM-tp10595p10602.html
Hi,
With only LiDAR, we cannot re-localize automatically, we have to send a initialpose to corresponding topic of rtabmap node.
If you have a camera, it is possible to do global re-localization. If it is a monocular camera, you would need to provide a rough depth image to make it work. Examples: