Re: RTAB-map only for mapping

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-map-only-for-mapping-tp1896p2679.html

Hi,

Yes, the map can be reassembled afterward offline with different parameters. The SLAM approach doesn't use a grid map, loop closures are detected by using images-only (and laser scans if available). The grid map is an output (generated from laser scans or projected depth images depending on the inputs and parameters). You can see for example the ROS hand-held tutorial or standalone hand-held tutorial, where it does 6DoF mapping. The tutorial Setup On Your Robot gives also another possible configurations (e.g., rtabmap can be either a 2D SLAM or 3D SLAM approach depending on your application).

cheers,
Mathieu