Test rtabmap RGBD mapping using TUM RGBD database

Posted by Tracy on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Test-rtabmap-RGBD-mapping-using-TUM-RGBD-database-tp1095.html

Hi guys,

Recently I tested the rtabmap RGBD mapping using the TUM RGBD database.

Here is the launch file

<include file="$(find rtabmap_ros)/launch/rgbd_mapping.launch" >
       <arg name="rtabmap_args" value="--delete_db_on_start" />
       <arg name="frame_id" value="openni_camera" />
       <arg name="rgb_topic" value="/camera/rgb/image_color" />
       <arg name="depth_registered_topic" value="/camera/depth/image" />
       <arg name="camera_info_topic" value="/camera/rgb/camera_info" />
 </include>

But after playing the bags, the Visual Odometry is easy to lost. Any idea how to handle this? Should I adjust some parameters?

Many thanks for your help!