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-tp6104p6155.html

Hi,

For the static transform, I would use a ruler :P

The outdoor database is empty, but I did take a look at the indoor one. The artifacts under the floor are caused by reflexions on the surfaces. I think you would see similar behavior with zed depth estimation (in particular on reflective floors). Lights reflecting on the ground can also create points under the ground. Note that reflective surfaces are quite an issue with almost all kind of sensors (stereo, rgb-d, lidar).

For the double wall effect indoor (as well as the door shifted), it looks caused by some odometry drift. For outdoor, it seems that the depth estimation was not that accurate on that kind of surface or some reasons (are there windows?).

cheers,
Mathieu