Keyframe selection method in the trajectory estimation

Posted by m.omar82 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Keyframe-selection-method-in-the-trajectory-estimation-tp4320.html

Dear Mathieu and friends

 Can you explain more how RTAB-Map selects the keyframe for the visual odometry?

In Parameters.h, Create a new keyframe when the number of inliers drops under this ratio of features in the last frame.

for example, the current keyframe is t-1, the current frame is t. RTABMAP estimate the pose between t-1 and t.
In the next frame t+1, RTABmap will check if t-1 and t achieve the condition of the KeyFrameThr. If yes RTAB-Map will estimate the pose between t-1 and t+1. If not RTAB-Map will choose the frame t as a keyframe and estimate the pose between t and t+1?


 Is this process the validation of KeyFrameThr is part of STM?


best regards
Mohammad Omar