Re: RGBD Outdoor Mapping - Offline Database Processing - Localization

Posted by DavideR on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RGBD-Outdoor-Mapping-Offline-Database-Processing-Localization-tp5258p5447.html

Hi Mathieu,
I confirm that the problem is fixed.Thank You!

I've succesfully created a map and I'm able to localize the robot within.

QUESTIONS

I have few question for my next steps :

1. I can choose between :

 A. grab 720 HD images with MEDIUM [2] depth quality
 B. grab VGA images with ULTRA [4] depth quality

Which tradeoff is better for a more robust loop closure detection? What is more important for feature processing : Image resolution or depth accuracy?

2. ICP registration : 3D Lidar capabilities [ 360° FOV - 8 scan rings - range >50m ] .
    What is the best configuration for a good ICP refining?
    I'd like to know what is better betweeen :
         A. processing the cloud directly ( what is a good downsampling value? [ range - voxel size - floor
             removal..] )
         B. creating a scan through the package pointcloud_to_laserscan ( which reference frame should I
             use to create the scan [base_link, camera_frame, lidar_frame] is it ok if they pitch? )


3. I want to figure out how GPS fixes are currently exploited by RTABmap, could you briefly describe me which functionalities are actually viable?


Thank You a lot

cheers,
Davide