Re: Reg/Strategy = VisIcp meaning

Posted by ricber on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Reg-Strategy-VisIcp-meaning-tp5522p5738.html

Thank you very much for the clear and helpful answer.
In the case of having RGBD/NeighborLinkRefining activated, is Rtabmap using the TF as a guess to do visual or icp registration? What happens in the case of VisIcp registration? Does it use the TF as a guess for a visual registration and then the visual registration as a guess for icp?

Moreover, when RGBD/NeighborLinkRefining is activated and the registration (visual or icp) fails does rtabmap take the transform from the TF as it is and simply goes on with the process?

Thank you again.
Riccardo.