Multi session mapping w/o "Localization Mode" trick between sessions

Posted by HTDcris on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Multi-session-mapping-w-o-Localization-Mode-trick-between-sessions-tp2912.html

Hi Matlabbe,
I followed your tutorial carefully:
https://github.com/introlab/rtabmap/wiki/Multi-Session-Mapping-with-RTAB-Map-Tango
I used the files of three capture sessions of a small natural cave. Each scan overlaps in several points the previous, but unfortunately I can not get a single map at the end of the processing. Do you think it might be due to the fact that I have not used the "Localization Mode" trick between sessions? I took these scans weeks before the publication of your tutorial...

The 3 database files are here:
https://drive.google.com/drive/folders/0B3xmLzdcR2kENHBJRU1rbHJjRHc?usp=sharing

An early draft-model achieved with manual alignment of the three point clouds can be seen here:
https://skfb.ly/668PL

Do you think that a single database is still achievable perhaps changing some settings? Or there is no hope at all?

Thank you so much

Cris