Re: rtabmap mapping

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-mapping-tp3680p3689.html

Hi,

The most robust, easiest to integrate and with lowest computation cost is a LiDAR (with >180 deg of field of view). If you have a very good computer, you may try with a second kinect looking backward.

If you look at this video from this demo, the LiDAR is used to re-localize on the map when travelling back the same corridor (from 0:45).

In contrast, this video has laser scan localization disabled, so the map is corrected only at the very end (when the camera is looking at the same direction than old locations in the map).

cheers,
Mathieu