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-tp5234p5252.html

Hi,

GTSAM as the optimizer strategy the loop does not close while with g2o or TORO it closes nicely

I would need the warning messages on terminal when loop closures are rejected to comment on this.

To determinate which optimizer is the best, after mapping, we can switch the optimizer to see how the graph is optimized. Most of the time we can see visually which gives the better optimizations. For more accurate metrics, we would have to record a ground truth and compare the error against it between all optimizers.

For "outdoor with 2D Lidar + IMU + stereo setup", the lidar may not be fed to rtabmap node, only maybe for obstacle detection (e.g., obstacle layer of move_base), unless the ground is a perfect plane.

cheers,
Mathieu