Re: Obstacle Avoidance during map construction.

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Obstacle-Avoidance-during-map-construction-tp1202p1279.html

Hi,

Resetting the odometry at the same place it got lost, it is more likely that odometry will not still be able to be computed after reset. Visual odometry cannot be done in featureless environments. See "Lost odometry" section on this page for more info. The minimum inliers set to 8 is that below this number, most computed transformations are not good. An odometry quality over 100 would give good odometry.

For not detecting loop closures with a previous map, you can look at this post to track down if they are detected but rejected.

The fake scan from the Kinect is not really reliable alone. Its field of view is too limited comparatively to a real LiDAR and also less precise. I would recommend to use wheel odometry to be more robust to featureless environments. You may also want to give a try to robot_localization package to do fusion of wheel odometry and visual odometry.

cheers