Re: Robot stuck in it own footprint

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Robot-stuck-in-it-own-footprint-tp3301p3325.html

Hi,

1. Visual odometry of rtabmap is done by extracting 2d local features from the rgb images, then use depth image to project them in 3D. With 3D->3D or 2D->3D correspondences between frames, we can estimate the motion.

2. Set parameter "Odom/ResetCountdown" to 1 for rgbd_odometry node:

rtabmap --params | grep Reset
Param: Odom/ResetCountdown = "0"    [Automatically reset odometry after X consecutive images 
                                     on which odometry cannot be computed (value=0 disables 
                                     auto-reset).]

Note that if wheel odometry is relatively accurate, you may not use visual odometry to avoid being lost. See "Kinect + Odometry + 2D laser" setup for example using also a lidar.

cheers,
Mathieu