Re: misalignment from tango multi session

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/misalignment-from-tango-multi-session-tp5046p5414.html

Hi,

When scanning large areas, lidar-based scanners are more convenient than tango because of their larger field-of-view and range. You can add Paracosm PX-80 to your list.

RTAB-Map can be also used with lidars, in theory it is possible to reproduce those devices. For example, you could combine a Velodyne and a camera with RTAB-Map, to get a colored point cloud. The Velodyne could be used alone (or with an IMU) to get already some accurate pose estimation (e.g., odometry) and camera could be used for loop closure in very large areas.

If you can synchronize the clock of Tango with an external lidar, you could feed the poses from tango and scans to rtabmap (e.g., possibly using tango ros streamer and publishing transform between VIO ref frame and lidar via TF). RTAB-Map can already create surfaces of the environment using the lidar contained in the database and apply texture from the camera on them. However, there are probably some non-trivial tuning to do to rtabmap to get good results that I cannot think right now.

cheers,
Mathieu