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-tp4320p4327.html

Good question. Too bad I'm currently writing a paper that includes how visual odometry (vo) is done in RTAB-Map, so for vo you cannot indeed refer to one of my already published papers. However, RTAB-Map's vo follows the general concepts that are defined in this vo paper "Visual odometry [tutorial]" (Scaramuzza, Davide and Fraundorfer, Friedrich 2011). For STM, you can cite this paper: Online Global Loop Closure Detection for Large-Scale Multi-Session Graph-Based SLAM (parameter R in this paper refers to Rtabmap/DetectionRate).

cheers,
Mathieu