Re: rtabmap_ros outdoor 3D mapping

Posted by acp on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-ros-outdoor-3D-mapping-tp6104p6116.html

Hi Mathiew,

 Unfortunately  I do not have a data set, i deleted, sorry for that.

I have just Zed camera.

However,

*  I have re calibrated the ZED  camera by means of Matlab.

*  I have bent the camera towards the floor about 18 degrees.

*  I have used the rtabmap's visual odometry but I did not get good results so I have tried the zed's odometry    and I got better results.

*  I have used the zed odometry.

*  I have re mapped the same place, well half of it.

*  I can get IMU data from the Pixhawk 4 mini, but as far as I know it needs to be synchronized, right? or how can set up the imu if I used the zed odometry?


* I will map other place and if I get bend or alignment problems I will share this time the data base.  


As you can see the wall bent problem has  reduced and also the alignment of the walls but there is a bit anyway.






Thank you and cheers