Re: Reg/Strategy = VisIcp meaning

Posted by matlabbe on Apr 13, 2019; 2:19am
URL: http://official-rtab-map-forum.206.s1.nabble.com/Reg-Strategy-VisIcp-meaning-tp5522p5740.html

Hi,

Yes for all your questions :P When refining fails, transform from TF is used directly. This can happen if we try to refine with vision and there are not enough features in field of the view of the camera. Similar case can happen with lidar, if there are no walls in the range of the lidar. In those cases, wheel odometry will be taken directly.

Mathieu