Re: Using external odometry with rtabmap slam and aligning to gravity

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Using-external-odometry-with-rtabmap-slam-and-aligning-to-gravity-tp10648p10668.html

Optimizer/GravitySigma should not be zero (default is 0.3) so that gravity constraints are used during graph optimization. Another thing is if the imu local transform is wrong (TF transform between base link and imu link, and/or camera link), the optimization may even align less the map to gravity. If you can share the database, I can take a look.