Re: Indoor mapping with turtlebot3 loop not closed
Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Indoor-mapping-with-turtlebot3-loop-not-closed-tp5938p5939.html
Hi,
Set Kp/MaxDepth and Vis/MaxDepth to 0 (default). Set RGBD/OptimizeMaxError to 3 (default). I think as you are moving quite slow, you could decrease the Rtabmap/DetectionRate to 0.5 or 0.2, this will save a lot of computing and memory resources. Here is the map with Rtabmap/DetectionRate=0.2:
cheers,
Mathieu
URL: http://official-rtab-map-forum.206.s1.nabble.com/Indoor-mapping-with-turtlebot3-loop-not-closed-tp5938p5939.html
Hi,
Set Kp/MaxDepth and Vis/MaxDepth to 0 (default). Set RGBD/OptimizeMaxError to 3 (default). I think as you are moving quite slow, you could decrease the Rtabmap/DetectionRate to 0.5 or 0.2, this will save a lot of computing and memory resources. Here is the map with Rtabmap/DetectionRate=0.2:
cheers,
Mathieu
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