Re: Reproducing Multi-session Deployment

Posted by Mingxi on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Reproducing-Multi-session-Deployment-tp578p2372.html

Thanks Mathieu. I tried you method by changing the inlier distance in the config file to 0.1 m, but still obtained a drift. Can you share your updated config file?

Also, when I used the same config file, and chose the graph optimization approach to "g2o", I also got a drifting result (without proper loop detection).


Meanwhile, I tried the 10 HZ data by following "3.3 Multi-session mapping" on http://wiki.ros.org/rtabmap_ros#Multi-session_mapping. The result is also drifting, no matter I use your original demo_multi-session_mapping.launch file, or change the graph optimization method to g2o.




Best regards.