Re: rtabmap_ros outdoor 3D mapping

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-ros-outdoor-3D-mapping-tp6104p6105.html

Hi,

For the double wall, it is difficult to see. But when there is a double-wall, it means there are some drift or there is an overlap between the walls seen from different orientation or distance. If loop closures have been detected, it would reduce the error. If you have a database to share, it would be easier to look at.

For the bending, it is caused by roll/pitch errors in odometry. Which odometry do you use? Is it rtabmap's visual odometry or zed's odometry? Is it Zed or Zed-M camera? To reduce that bending in 6DoF mapping, we need to inject gravity constraints to graph (through the drone IMU topic for example). See http://official-rtab-map-forum.206.s1.nabble.com/Subscribe-to-imu-topic-td6099.html#a6102 for more info.

cheers,
Mathieu