Re: Integrate artificial landmarks with RTAB-Map

Posted by matlabbe on Aug 09, 2016; 4:17pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Integrate-artificial-landmarks-with-RTAB-Map-tp1586p1659.html

Hi,

If the transform between /map and /odom changes, that means there is a loop closure or a proximity link added to map. A "loop closure" is just a term saying that rtabmap founds 2 similar images and link them together, adding a new constraint in the graph.

 if I rotate the robot by some angle, the new point cloud acquired doesn't combine with the previous point cloud properly

Odometry can drift, which may cause that consecutive point clouds won't exactly superpose together. Depending on your sensor and and the noise in its depth image, the amount of odometry drift may vary depending on the distance between the camera and the objects.

cheers,
Mathieu