RGBD SLAM and then RGB Localization

Posted by Kaifei on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RGBD-SLAM-and-then-RGB-Localization-tp489.html

Can I do RGBD SLAM using Kinect first, then do Localization using RGB images on the constructed 3D model?
If not, where and how should I change the codes?

It seems that RGBD is using OdometryBOW, and RGB is using OdometryMono.
Do I need to write my own Odometry class to match an RGB image to existing 3D model?

Theoretically it is doable, because all images are matched based on the SURF (as an example) features.

Thanks a lot!