Re: Keyframe selection method in the trajectory estimation

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Keyframe-selection-method-in-the-trajectory-estimation-tp4320p4321.html

Hi,

Odometry and STM keyframe selections are independent.

Keyframes for odometry are selected as you said: when image at t is compared with current keyframe (t-1 for example), if a transformation is found and inliers are under the specified ratio (Odom/KeyFrameThr), t will replace t-1 as the current key frame. If image at t is not added as keyframe, t+1 will be compared to t-1 instead of t. In contrast to Odometry F2F (Frame-to-frame), for odometry F2M (Frame-to-map), an image is compared to 3D features coming from multiple keyframes (instead of just last keyframe). If the inliers with current image is under the ratio, it will be added to set of keyframes, extending the feature map.

For STM, keyframes are added at rate (Hz) specified by Rtabmap/DetectionRate.

cheers,
Mathieu