Improve rtabmap SLAM performance by enabling SURF feature

Posted by simon.xm.lee on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Improve-rtabmap-SLAM-performance-by-enabling-SURF-feature-tp3068.html

Hi Mathieu,

My environment is  "KinectV2 + odometry". I use robot's odometry instead of rgbd_odometry. And the SURF feature seem just for visual_odometry(rgbd_odometry, stereo_rgbd_odometry). Therefore I think enabling SURF feature would not improve the SLAM performance at first.

However I see there are feature detection/extraction points showing in rtabmapviz. I guess the rtabmapviz would also include feature detection/extraction process. Am I right?

If yes, I would build opencv3.0 with extra module(xfeatures2d) to enable SURF feature.

Regards.