Re: RGB-D SLAM example on ROS and Raspberry Pi 3

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RGB-D-SLAM-example-on-ROS-and-Raspberry-Pi-3-tp1250p3753.html

Hi David,

If you have a lidar, yes, you could improve odometry a lot with a node like laser_scan_matcher. However, if you simulate a laser scan from the same RGB-D camera, odometry may be worst than visual odometry.

If your environment is 2D (indoor always same floor), you may try adding this parameter: "--Reg/Force3DoF true" (if you are on old Indigo binaries, add also "--Optimizer/Slam2D true").

In the remote mapping tutorial, the bandwidth is limited to 5 Hz, but to get good visual odometry, try to increase it to 10/15 Hz at least if you have enough bandwidth.

cheers,
Mathieu