Re: rtabmap in 2D mapping

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-in-2D-mapping-tp1702p1763.html

Hi,

My "very precise" comment above was about the transform between /base_link and /camera_link (which is generally fixed), not /odom -> /base_link (which is odometry). Well, the better the odometry is, the better the localization is. RTAB-Map can correct odometry drift on loop closure, but if there is no loop closure for a while (robot is exploring always new places) and if odometry is bad, you would have not so meaning localization after a couple of meters, which is difficult for navigation.

Some robots can move tens of meters with only 1 cm absolute drift, though others can have 1 meter absolute drift or more.

cheers