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-tp5589p5626.html

Hi,

Yes, it can work with the limitations I raised. See this post (stereo SLAM in this kind of environment), some of them are discussed.

There are more accurate Visual SLAM approaches out there when we look only at the accuracy of the trajectory estimation, in particular for visual odometry, but they are often monolithic and cannot be configured with an external odometry approach (e.g. wheel odometry) like RTAB-Map to be more robust in non-friendly vision environments.

It doesn't mean they are incompatible with rtabmap, in the paper RTAB-Map as an Open-Source Lidar and Visual SLAM Library for Large-Scale and Long-Term Online Operation we evaluated some "visual odometry" approaches that could be integrated with RTAB-Map (see tables 3-7, F2M is the default one in rtabmap):

vo ---- /odom ---> rtabmap

cheers,
Mathieu