Re: RTAB-Map on Jetson Nano

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-on-Jetson-Nano-tp5875p5883.html

Hi,

The cloud seems very sparse, which is not good for visual odometry. Are you using freenect_launch? Check if the depth image is dense or sparse with rqt_image_view.

I would suggest to make work a single odometry approach. If you have wheel encoders, start by using it. rtabmap can refine that odometry afterwards with the lidar (without the need of icp_odometry, thus also saving processing power). See http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot#Kinect_.2B-_Odometry_.2B-_2D_laser

If you are navigating indoor, most of the time visual odometry is not reliable if the field of view is limited (camera often looks at plain white walls).

cheers,
Mathieu