Re: the same param for indigo branch and master branch, but different effect

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/the-same-param-for-indigo-branch-and-master-branch-but-different-effect-tp2125p2139.html

Hi,

The camera must be close to a pose in the graph to localize. Otherwise, when you move outside the trajectory mapped, it is odometry until a new localization can be done (when re-crossing the map's trajectory). If you want to localize more often in different camera positions, it is better to map the area with the maximum number of positions/orientations to better "learn" the area. SIFT/SURF features may produce better localization hypotheses.

cheers