Re: Reproducing Multi-session Deployment
Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Reproducing-Multi-session-Deployment-tp578p582.html
Hi,
The odometry contained in the database comes from the wheel odometry. Because of the lack of visual features in this environment, using wheel odometry is more appropriate than using visual odometry.
If you want to experiment visual odometry, you should take the 10 Hz databases. I've updated the multi-session10Hz.ini with odometry that works relatively ok (there is no "lost odometry"). Example of results using visual odometry:
The hall is lacking of robust visual features, we can see that the biggest odometry errors are there. It is an environnement with halls and white walls, that is why we used wheel odometry in the paper.
cheers
URL: http://official-rtab-map-forum.206.s1.nabble.com/Reproducing-Multi-session-Deployment-tp578p582.html
Hi,
The odometry contained in the database comes from the wheel odometry. Because of the lack of visual features in this environment, using wheel odometry is more appropriate than using visual odometry.
If you want to experiment visual odometry, you should take the 10 Hz databases. I've updated the multi-session10Hz.ini with odometry that works relatively ok (there is no "lost odometry"). Example of results using visual odometry:
The hall is lacking of robust visual features, we can see that the biggest odometry errors are there. It is an environnement with halls and white walls, that is why we used wheel odometry in the paper.
cheers
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