Re: RGB-D Mapping with Laser scanner

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RGB-D-Mapping-with-Laser-scanner-tp25p26.html

Hallways are always challenging for any systems that cannot "view" very far. This demo uses an UTM LX-30 if I remember correctly. The configuration used assumes that there is a relatively reliable odometry available. The odometry is computed from the wheel encoders of the base, so it is why the robot gets never lost, even in hallways. If you don't have any odometry available on your platform, the rtabmap/rgbd_odometry works reliably only if there are enough visual features under 4 meters in the environment. You could use the laser to generate an odometry instead (like in the "Kinect+2D laser" configuration). I don't provide an "icp_odometry" node built in rtabmap, but a google search tells that packages like laser_scan_matcher or more robust hector_slam could generate such odometry as input to RTAB-Map.