Re: Info on some parameters

Posted by manuel.lo on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Info-on-some-parameters-tp4568p4650.html

Hi Mathieu.

Thanks a lot for your answers.

At moment, I'm using Hokuyo UTM-30LX and Kinectv2.

I have set tf between Hokuyo and Kinectv2 and, in fact, the scans are
consistent.

I'm mapping 3D then 6 DoF with ICP active on registration options, but I
have 2 cases:
1) narrow ICP parameters ie low thresholds and loop closures are rejected
and not good;
2) if we relax parameters, loop closures accepted, but to make the scans
adhere, the map isn't good (it's cambered).

What would you recommend for a correct use of Hokuyo? Is it a parameter
matter or something other?

Thanks.

             Manuel