Re: RGB-D Mapping with Laser scanner

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RGB-D-Mapping-with-Laser-scanner-tp25p1399.html

Hi,

Time synchronization is done with an ApproximateTime Synchronizer callback from ROS. The transforms for the laser and the camera are refined with TF using the timestamp, if different, from the odometry message (to actually align sensor data to odometry). Note that for the laser scan, the stamp is the stamp of the message + scan time (see here for more info).

The laser scanner is used to refine odometry between each map update, to refine loop closure / localization transformation and to detect loop closures / to localize using only geometry. For example, if you have a long-range LiDAR like 30 meters indoor, you will have a very accurate map. The parameters "RGBD/NeighborLinkRefining" (true) and "Reg/Strategy" (1 or 2) are used to make use of the laser scans.

In case you do 2D mapping, you may want to set these parameters too: "Optimizer/Slam2D" (true) and "Reg/Force3DoF" (true).

cheers