Re: Tilted 3D map with floam

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Tilted-3D-map-with-floam-tp10380p10626.html

For my application it is important that the localization is as accurate as possible. I think with more accurate odometry, the error in the map before the loop closure would be less, too. So is there anything else I can do to improve the accuracy of the odometry?

On my side, I got 5 cm difference in z, which is what I would roughly expect for that kind of trajectory and environment. You can also play the bag slower with same parameters than mine to see if it is a computation issue. Otherwise, that could be possible to compare icp_odometry with other LiDAR odometry approaches (like LIO-SAM or KISS-ICP, just to name some popular approaches still maintained). Their output odometry could be fed to rtabmap node.

I have another question regarding the setup of rtabmap, just for my understanding. Why do I have to set ICP parameters for the configuration of the rtabmap_slam node separately? Doesn’t the rtabmap_slam node just use the odometry provided by the rtabmap_odom node?

The ICP parameters need to be set for both nodes. rtabmap_slam needs them for loop closure transformation estimation, which also uses ICP. Another way is to provide the same parameter file (yaml) to both nodes to only have one set of parameters.