Re: Few questions regarding stereo mapping with RTAB ROS

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Few-questions-regarding-stereo-mapping-with-RTAB-ROS-tp5589p5611.html


A stereo camera will see the ground only if it is textured. As the ground is not an obstacle, it is not bad most of the time to not "see" it, unless there are stairs or holes. For white walls, a RGB-D camera or a lidar should see them, unless they are very close. For a stereo camera, it will just not see them independently of the distance (or the walls will be very distorted like with ZED's depth estimator).

The yellow lines are not "friendly" for a feature-based odometry or localization. You would need another vision approach to detect those lines.