Re: Kinect2 + robot odometry launchfile

Posted by simon.xm.lee on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Kinect2-robot-odometry-launchfile-tp3065p3074.html

Hi Hoschi,

Q: So can I assume that rgbd odometry is not be used then?
Ans: I think "Yes". According to my understanding, you can use only one kind of odometries(rgbd odometry, stereo odometry, or robot odometry).

Q: Is it good not to use this and how can I check in what way rtabmap is handling my robot odometry?
Ans: I cannot answer this question.

Q: In the setup guide tutorial a fake 2d scanner is used. Why should this enhance the quality of the mapping, when rbtabmap has anyway all the data?
Ans: I think the 2D laser_scan data could improve the quality of odometry by ICP(Iterative Closest Point).
The "Setup RTAB-Map on Your Robot!" page in tutorial mention that
RGBD/NeighborLinkRefining: Correct odometry using the input laser topic using ICP.


Regards.