Re: Noisy Global Map using ZEDm causing obstacle avoidance navigation problem

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Noisy-Global-Map-using-ZEDm-causing-obstacle-avoidance-navigation-problem-tp6039p6042.html

Hi,

There are two approaches to filter that noise.

1) Adjusting "Grid/" parameters and regenerate the local grids

In rtabmap-databaseViewer, show the "Core Parameters" and "3D view" panels. Click on "Grid" checkbox in 3D view. This will show the local grid used to generate the map for the frame selected (with the main sliders). Under Core Parameters panel, select Grid sub section. To filter pepper noise obstacles, tune NoiseFilteringRadius and NoiseFilteringMinNeighbors. Click on "Edit->Regenerate local grid maps (selected)". The local grid will be regenerated. If you are satisfied, you can do "Edit->Regenerate local grid maps" to regenerate all local grids with those parameters. This will regenerate the global map as well. You can also write those parameters to your launch file to be used in next sessions.

2) If you restart in Localization mode, edit directly the global map

In rtabmap-databaseViewer, do "File -> Edit optimized map...". See right-click menu to add/remove obstacles. On close the map is saved back to database. When reloading the map in Localization mode (Mem/IncrementalMemory=false), that modified map should be used. If you start in SLAM mode, the map will be regenerated, removing the changes made (in this case, it is preferred to use approach 1 above). Rtabmap >=0.19 required for this approach.

cheers,
Mathieu