Ransac Frame-to-Frame Stability

Posted by Reyn on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Ransac-Frame-to-Frame-Stability-tp225.html

Hi,
Awesome project.

I have a question.

Using kinect fusion's iterative closest point (ICP) function I've tried to map an environment using just the previous and current point clouds to find the transforms. This fails due to drift, even when the kinect is stationary the ICP algorithm is reporting movement. The full kinect fusion is stable because they build a voxel representation of the world.

How does RTAB-MAP keep a stationary sensor from thinking its moving ? Is it just that ransac cloud alignment is that much more stable ? Is there a minimum movement amount or something similar, wouldn't that cause other issues ?

Thanks!