Limiting Localization to Stay Within Map Boundaries in RTAB-Map

Posted by rob_slam on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Limiting-Localization-to-Stay-Within-Map-Boundaries-in-RTAB-Map-tp10846.html

Hi everyone,

I'm currently working on a project using RTAB-Map for localization. While the localization within a previously created map works fine initially, I often encounter an issue when I continue moving around: the localization drifts outside the map boundaries. Most of the time, the robot appears to be positioned somewhere outside the map (after correct first-localization in the map).

Is there a way to configure RTAB-Map to ensure that localization remains confined within the map? Essentially, I’d like to prevent the system from placing the robot in positions outside the pre-built map during localization.

I’d greatly appreciate any advice or suggestions on parameters or methods to address this issue. Thanks in advance!

Best regards