Re: iOS best practices for only tracking long recordings

Posted by cheazers on
URL: http://official-rtab-map-forum.206.s1.nabble.com/iOS-best-practices-for-only-tracking-long-recordings-tp10300p10990.html

Hi,

I’m very interested in this topic as well, particularly for scanning large indoor areas (such as barns) using an iPhone. I’m currently using the ‘data-recording’ mode of the iOS app, with typical scan durations ranging from 15 to 30 minutes, recorded at 2Hz.

For our use case, obtaining a robust and accurate estimate of the pose trajectory is the highest priority. Since iOS already provides good odometry, the main focus seems to be on global loop closures (LTM?). Memory and optimization time are not major concerns for us.

What are the best settings to use with the 'rtabmap-reprocess' command line tool to maximize accuracy?

From my understanding, this set of settings appears to replicate what the iOS device does in normal mode, but it may not necessarily be the optimal configuration. Do you have any recommendations for achieving better results?