Re: Ransac Frame-to-Frame Stability

Posted by srinath2468 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Ransac-Frame-to-Frame-Stability-tp225p6327.html

Hey Matlabbe!,

I have changed the odometry to F2F, disabled guess from motion, bundle adjustment and set the keyframethreshold and visualkeyframethreshold to 0, but still the RTABMap odometry tracking seems to be super robust.

When i try to implement the same, I seem to encounter a lot of drift. I am implementing it on the GPU and have verified my keypoint generation and matching. They seem to be fine.

Is there any other factor or parameter that I need to take care of?

Thanks!