Global Optimizing with Loop Closure and Navigation After Mapping.

Posted by imran05 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Global-Optimizing-with-Loop-Closure-and-Navigation-After-Mapping-tp11061.html

Hello,
I'm working on mapping and navigation in an apple orchard using the rtabmap SLAM with stereo odometry from an OAK-D-PR-W POE camera. I'm following the ROS tutorial for stereo handheld mapping (https://wiki.ros.org/rtabmap_ros/Tutorials/StereoHandHeldMapping).
I have two questions:

Mapping issue: When moving from the 2nd to 3rd row in the orchard, my map sometimes creates errors. These errors occasionally get fixed when loop closure is detected and optimizes the overall map. However, sometimes loop closure doesn't optimize the map well, resulting in duplicated rows and poor mapping quality. Is there a way to delete or refine specific poses that are causing problems in the mapping? I've attached an image of my map showing this issue.
database link : https://drive.google.com/file/d/1Y5tr5iF25V79tsQ_Gwst_YG-Ni_uftZf/view?usp=sharing
Navigation issue: I'm using the teb local planner with move_base. During navigation, my robot initially localizes itself within the map correctly, but when I provide waypoint goals, it sometimes loses localization in the middle of the rows. This causes incorrect positioning on the map and consequently navigation problems. Is there a method to improve localization using only visual information, without adding additional sensors?

Thank you for your help!