Re: Theoretical Background

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Theoretical-Background-tp2586p2607.html

Hi,

The paper "Online Global Loop Closure Detection for Large-Scale Multi-Session Graph-Based SLAM" gives a description of the SLAM back-end used by RTAB-Map. Like the title says, it is a Graph-based SLAM approach, not a particle filter approach. The particle filter (along with the Kalman filter) you are referring is an experimental way to filter visual odometry noise (it is not used by default).

There is no official documentation yet about visual odometry used in RTAB-Map (you may find other posts about that though).

cheers,
Mathieu