Re: Error: Very large angular variance

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Error-Very-large-angular-variance-tp5194p5307.html

Hi,

The covariance is ok for 2D slam. Unfortunatly, with the version you are using, the warning appears when any of the angular variance is set high. This has been fixed in recent version where only yaw variance is checked for that warning if Reg/Force3DoF is true. In your case, the warning should not appear. It is safe to ignore the warning in your case (or update rtabmap to newest version from source to suppress this warning).

cheers,
Mathieu