Re: how to keep fixing ground plane to X-Y plane?

Posted by matlabbe on Dec 22, 2016; 7:56pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/how-to-keep-fixing-ground-plane-to-X-Y-plane-tp2490p2497.html

Hi Suzy,

you should not set "force 3DoF"/"2D slam" (in graph optimization or motion estimation panels) for free hand-held trajectory. There is no ground detection option to always keep aligned the ground with the X-Y plane, only at the start with the corresponding odometry option that you activated. Over time, because of the drift, the ground may not be aligned exactly with the first cloud.

Indeed, having an option to add constraints to graph to keep the ground aligned would be great (when we assume that the ground is always a plane at the same height).

cheers,
Mathieu