Re: rtabmap mapping

Posted by matlabbe on Sep 03, 2017; 8:03pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-mapping-tp3680p3713.html

Hi,

I don't have a specified launch file for the second video, if your robot doesn't subscribe to a laser scan topic, the default parameters should produce the same result. If subscribed to a laser scan, to disable local scan matching, set parameter "RGBD/ProximityBySpace" to false or "RGBD/ProximityPathMaxNeighbors" to 0.

1) Odometry will always drift, more or less depending on the sensor(s) used and the approach to estimate it.

2) Loop closure detection is automatic. See at 1:42 on the second video. Loop closures happen when two images are detected as the same location, then the map is corrected with the new constraint. See this paper about loop closure detection.

cheers,
Mathieu