Re: Issue Getting Map from Rtabmap

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Issue-Getting-Map-from-Rtabmap-tp6068p6084.html

Hi Joel,

In rtabmap, we don't have monocular rgb-only odometry, a stereo pair or a depth image is required to triangulate accurately the 2D features (thus to estimate trajectory). If visual loop closures are not possible anyway in that kind of environment (no many repetitive similar features), you may use rtabmap with lidar and odometry inputs only (subscribe_depth=false, subscribe_rgb=false, subscribe_scan_cloud=true). To provide odometry, you may look for an external visual-inertial odometry (VIO) package like VINS-Mono or a multi-camera odometry approach like MCPTAM. It may be tedious to setup that kind of packages (in particular VIO approaches), you may try Realsense T265 camera for a solution out-of-the-box. Note that for pipes, if there are not enough visual features, visual-based odometry will fail or drift a lot. As pipe geometry is also a problem for lidar odometry, maybe you could estimate the distance moved in the pipe with encoders fused (robot_localization package) with an IMU (use only accelerometer and gyroscope to estimate quaternion as magnetometer may not work properly underground) to know the orientation.

cheers,
Mathieu