Sensor odometry fusion

Posted by g.bartoli on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Sensor-odometry-fusion-tp467.html

Hi,
I am considering integrating RTAB-Map data with motor odometry like you explained in this Setup

I suppose the global odometry should be more robust with data coming also from encoders, but how are they combined with RTAB-Map? Is there a Kalman filter, correlation technique or they are simply averaged? What happens if the two sources become inconsistent because of poor visual reference and/or wheels slipping on the floor?

Thanks!