Re: rtabmap does not find loop closures

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-does-not-find-loop-closures-tp6586p6618.html

Hi,

When using Optimizer/GravitySigma parameter, we should make sure that the TF between the IMU and the base frame used by rtabmap is accurate, otherwise it could optimize badly the map. For example, open the map very deformed that you shown in rtabmap standalone, go in Preference->Optimizer and change gravity sigma prameter to 0, close disalog, and do Edit->Download Graph (Optimized). It will re-optimized to map without gravity constraints. IF the map is better, it means TF between IMU and base link is not accurate. It is possible to set Optimizer/GravitySigma>=1 when this TF is not accurate, so that the map gets less deformed.

If you set old parameter name RGBD/OptimizeStrategy=1, rtabmap will automatically set Optimizer/Strategy=1 (the new parameter name) for convenience.

cheers,
Mathieu