Re: Map update stopped in between

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Map-update-stopped-in-between-tp5234p5246.html

Hi,

Using Icp/PM=true gives generally better ICP optimizations. When using libpointmatcher for ICP, you can increase also Icp/MaxCorrespondenceDistance (like 0.5 or even 1 m) to be more robust to odometry drift.

Are you using 2D lidar? If so, with Icp/PM=true, you can use Icp/PointToPlane=true with 2d scans. For indoor environments, this gives better accuracy.

Note that to be able to enable Icp/PM, rtabmap should be built with libpointmatcher dependency (e.g., install libpointmatcher and rebuild/install rtabmap), otherwise you will have a warning/error on terminal.

cheers,
Mathieu