3D mapping: light ground reflection and multiple walls

Posted by acp on
URL: http://official-rtab-map-forum.206.s1.nabble.com/3D-mapping-light-ground-reflection-and-multiple-walls-tp6130.html

Dear people.


I do have a ZED camera and a Jetson TX2 mounted on a drone. I have taken the drone with my hands to map an outdoor place by means of the rtabmap_ros node.


I have been trying to map big areas where I got some distortions during mapping as you can see in this link:

http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-ros-outdoor-3D-mapping-td6104.html#a6117

However, I made a very simple test. I have put the drone on a wheel chair and i turned the chair to complete a circle.


And I can see the following.

* when the zed is looking at the window it detects the the reflected light on the floor and plots the floor  under the ground in RVVIZ.


* When the zed  is turning it detects multiple walls.







I share a rtabmap.db just in case :)

http://www.fit.vutbr.cz/~plascencia/rtabmap_lab.db 


I just calibrated the zed camera by means of matlab and tested the calibration by means of opencv, The calibration looks good :)


If you need I can share the launch file or if there is any parameter i need to tune or what can i do to have a good 3D mapping.


I am looking forward to your replay.