Re: Losing odometry when doing fixed point scanning

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Losing-odometry-when-doing-fixed-point-scanning-tp4336p4339.html

Hi,

1) What kind of features did you use in OpenCV? You may use the same for rtabmap (see Vis/FeatureType). However, for a setup like this, if you can know accurately the position/orientation of the camera at each capture, creating odometry as you did would be the best solution, as it would be invariant of the visual appearance of the environment (i.e., if there are visual features or not) or geometry if you use ICP-based registration.

2) Do you have a screenshot of these artefacts? If they are between frames, maybe the poses are not accurate enough (e.g., the pose should be the center of the RGB camera optical lens, not the center of the camera). Another problem could the scale of the depth image or the wrong focal distance in the camera calibration: even if the pose is accurate, if scale is off the reality, there will be undesirable results. A mis-registration between RGB and depth camera can also lead to some visual/geometry problems. If OpenNI2 driver is used, a recalibration can be done with calibration tool of RTAB-Map.

cheers,
Mathieu