Re: TIps on increasing the accuracy and robustness of icp odometry

Posted by dinossht on
URL: http://official-rtab-map-forum.206.s1.nabble.com/TIps-on-increasing-the-accuracy-and-robustness-of-icp-odometry-tp10685p10698.html

Thank you Mathieu. Seems like increasing ScanSubtractRadius helps a wrt. accuacy! When I enable deskew, the odometry does not work. Have you experienced this?


And what does this do exactly: PointToPlaneGroundNormalsUp? If I walk with the lidar sensor, does this apply as well?