Integrate artificial landmarks with RTAB-Map

Posted by KamalDSOberoi on Jul 26, 2016; 1:32pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Integrate-artificial-landmarks-with-RTAB-Map-tp1586.html

Hello Mathieu,

I want to localize artificial landmarks in the point cloud. I get the pose of the landmarks using which I calculate the pose of the robot. Therefore, I have the robot pose using rtabmap (kinect) as well as using artificial landmarks.

Anyway, I visualize the landmarks in the point cloud using the landmark pose information. When the robot moves, it assembles a new point cloud. But the landmarks are not visualized in the new point cloud. They still are in the old point cloud.

I have two questions:
1. Is visualization (of tf world --> landmarks) and localization of the landmarks in RVIZ the same thing?
2. Do you have any idea which can help me in visualizing/localizing the landmarks in the latest point cloud?

I am not sure if the explanation of the problem is clear, but I would really appreciate any guidance. Thanks in advance !!

Cheers,
Kamal