Reference frame of visual odometry

Posted by dmkarage on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Reference-frame-of-visual-odometry-tp2681.html

Hi,

I am trying to compare the localization accuracy between RTAB-Map with only visual odometry (xtion pro used) and  wheel odometry on a Tiago robot. I know that I cannot combine them without an EKF. However I would like to see how close these two odometries are. The "world" reference frame for wheel odometry is the frame at the starting position in which i turn on the robot, called "odom". Could you let me know which one is the "world" reference frame of Rtab-Map's visual odometry? It seems that visual odometry computes a relative displacement rather than a displacement with respect to a "fixed" frame. Is there a way to set as reference frame for the visual odometry the very same "world" frame of the wheel odometry?

Thank you in advance