Re: How does localization mode work？

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-does-localization-mode-work-tp5288p5295.html

Hi,

Yes, you can do localization in a map created previously by rtabmap. See http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping#Localization_mode

The code is the same than loop closure detection. See Bayes Filter update section in Rtabmap.cpp: https://github.com/introlab/rtabmap/blob/ccbc802fe6354fe8593975384170ddf04976a5aa/corelib/src/Rtabmap.cpp#L1415-L1653

cheers,
Mathieu