Re: RTAB SLAM using Wheel Encoder+imu+2d rotating Lidar

Posted by matlabbe on May 15, 2019; 8:56pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-SLAM-using-Wheel-Encoder-imu-2d-rotating-Lidar-tp5741p5831.html

Hi,

RTAB-Map can close small loop closures with only lidar (a process called "proximity detection" in RTAB-Map). To see the 3D cloud, subscribe to /rtabmap/cloud_map (which is a PointCloud2 type) topic in rviz.

It could be easier to add a realsense camera instead of a single RGB camera so that you don't bother how projecting the lidar cloud in RGB camera frame to get a registered depth image. However, if your environment is visually featureless, a camera may just not be usable anyway for loop closure detection, relying only on geometry, which proximity detection is already doing in your case with the lidar alone.

cheers,
Mathieu