Re: rtabmap_drone_example in-depth understanding.

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-drone-example-in-depth-understanding-tp11048p11088.html


No matter the computer you have, I've found that if odometry (visual or lidar) can work at least at 10 Hz, it is good enough in most cases. It is always possible to downsample the sensor data to go faster, but accuracy may be worst (though in many cases using downsampled data doesn't really affect the pose accuracy).

For the sensors, the more FOV you have the better the pose accuracy will be. For cameras, look for large field of view cameras > 100 deg. For lidar, 360 is great.

For cameras, look for global shutter, hardware sync between left and right sensors. Make sure the calibration is as good as it can be! Having cameras with IR projector can help to "see" textureless surfaces like white walls, but beware that IR pattern should not be seen by visual odometry.

cheers,
Mathieu