Re: Adding more loop detection in post-processing
Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Adding-more-loop-detection-in-post-processing-tp2643p2691.html
Hi,
You are doing right. The problem here is that depth values are almost null in most camera frames (see screenshot below where I show the depth over RGB). Without depth, 3D features cannot be computed. Even if there are features on the right, they are not useful features because they are mostly on a uniform texture (not discriminative), so difficult to find good correspondences.
cheers,
Mathieu
URL: http://official-rtab-map-forum.206.s1.nabble.com/Adding-more-loop-detection-in-post-processing-tp2643p2691.html
Hi,
You are doing right. The problem here is that depth values are almost null in most camera frames (see screenshot below where I show the depth over RGB). Without depth, 3D features cannot be computed. Even if there are features on the right, they are not useful features because they are mostly on a uniform texture (not discriminative), so difficult to find good correspondences.
cheers,
Mathieu
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