Re: RTABMAP Multi RGBD Camera Error

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTABMAP-Multi-RGBD-Camera-Error-tp11093p11203.html

Hi,

Is it possible to use the three ZED 2i cameras to detect ArUco markers and perform loop closing in RTAB-Map?

Yes, totally possible. I would start with lowest resolution images to avoid large bulk of data to process.

If the 3D LiDAR is the main sensor, you could start with an example like the Husky+3D Lidar. You may be able to re-use that launch file, add two more rgbd_sync nodes and set "rgbd_cameras: 3" for rtabmap node.

For best results, make sure your robot URDF and real sensor positions match together.

cheers,
Mathieu