General questions about mapping and odometry
Posted by adr_arroyo on
URL: http://official-rtab-map-forum.206.s1.nabble.com/General-questions-about-mapping-and-odometry-tp3432.html
Hi, I am opening this other thread as these questions are more general and not only related to mapping with two cameras, sorry for the confusion in the other thread as I am already making too many questions
.
I have other bunch of questions, which I tried to answer by myself but I guess I could not find proper literature or I did not understand the functioning of the sw. They are mostly concerning about the consequences of the odometry in the creation of the map. I mainly do not understand if for the slam, the odometry of the robot is used or also visual odometry is used to correct the robots one, is this how the slam is done? Questions related:
- So there is a parameter to select the odometry strategy (Odom, Strategy); how the odometry is registered I guess depends on it. But how does it happen when I have an odometry coming from the robot? How is it registered? I mean, is the information on the robot used to know the movement of the robot and then it uses the odom strategy (which I understood all of them are visual) to correct that robots odometry and thus refine the registered map (with ICP?, is the registration parameter related?) If there exists this map correction, is there any other parameter related to this? Is it also affected the links refining (are the links refined when the map is corrected?)?
- Regarding the odom strategy types, is there any literature about frame-to-map or frame-to-frame? I understand that the correction of the odometry is either related to the already registered map or to the previous frame, is it correct? The rest of the strategies seem related to visual odometry correction, is it activated even with the info coming from the odometry of the robot?
- In frame-to-map strategy, there is a parameter regarding the "local map of X words", are they visual words or odometry words? the parameters related to visual words have influence here?
Other types of questions are:
- when the graph optimization occurs, what is it changed? I am correct saying that the links (which means transformations) are refined with other transforms? anything else is changed? About links redefinition, what are the differences between visual and ICP, and how does it work when we are using both (=2)? Are there other parameters affected when we use one or the other?
- About ICP, if the update is set to 0.1, does it make sense to have a ICP/Traslation>0.1? Are the Rtabmap/update (angular update, linear update) parameters related or have influence here? If we set a higher correspondence ratio, will ICP work better (even though less times)?
Thanks and regards
URL: http://official-rtab-map-forum.206.s1.nabble.com/General-questions-about-mapping-and-odometry-tp3432.html
Hi, I am opening this other thread as these questions are more general and not only related to mapping with two cameras, sorry for the confusion in the other thread as I am already making too many questions
.
I have other bunch of questions, which I tried to answer by myself but I guess I could not find proper literature or I did not understand the functioning of the sw. They are mostly concerning about the consequences of the odometry in the creation of the map. I mainly do not understand if for the slam, the odometry of the robot is used or also visual odometry is used to correct the robots one, is this how the slam is done? Questions related:
- So there is a parameter to select the odometry strategy (Odom, Strategy); how the odometry is registered I guess depends on it. But how does it happen when I have an odometry coming from the robot? How is it registered? I mean, is the information on the robot used to know the movement of the robot and then it uses the odom strategy (which I understood all of them are visual) to correct that robots odometry and thus refine the registered map (with ICP?, is the registration parameter related?) If there exists this map correction, is there any other parameter related to this? Is it also affected the links refining (are the links refined when the map is corrected?)?
- Regarding the odom strategy types, is there any literature about frame-to-map or frame-to-frame? I understand that the correction of the odometry is either related to the already registered map or to the previous frame, is it correct? The rest of the strategies seem related to visual odometry correction, is it activated even with the info coming from the odometry of the robot?
- In frame-to-map strategy, there is a parameter regarding the "local map of X words", are they visual words or odometry words? the parameters related to visual words have influence here?
Other types of questions are:
- when the graph optimization occurs, what is it changed? I am correct saying that the links (which means transformations) are refined with other transforms? anything else is changed? About links redefinition, what are the differences between visual and ICP, and how does it work when we are using both (=2)? Are there other parameters affected when we use one or the other?
- About ICP, if the update is set to 0.1, does it make sense to have a ICP/Traslation>0.1? Are the Rtabmap/update (angular update, linear update) parameters related or have influence here? If we set a higher correspondence ratio, will ICP work better (even though less times)?
Thanks and regards
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