Re: rtabmap in 2D mapping

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-in-2D-mapping-tp1702p1783.html

If the robot doesn't plan trajectories to close loops, it will never find a loop closure. So the odometry should be precise enough to be able to navigate in a "zone" with uncertainties that you may detect a loop closure. Then if the robot is navigating back in a previous area, then loop closure detection approach may detect it or not. For more info, you can see this paper: Appearance-Based Loop Closure Detection for Online Large-Scale and Long-Term Operation.

If you have already a map, then the camera should be able to "see" the environment the same way (same direction) than when you mapped previously, otherwise it will not localize.

cheers