Re: Mapping with multiple stereocameras, localization with multiple monochrome monocular cameras

Posted by Artem Lobantsev on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Mapping-with-multiple-stereocameras-localization-with-multiple-monochrome-monocular-cameras-tp6647p6662.html

Hello, Mathieu!

Thanks for insights!

There are still several questions.

1. Did your answer to point 2 regards to monocular four-camera setup? I can't understand, how the statements about treating multicamera setup as one sensor with extended FoV (here) and the need for multicam-specific PnP algorithms are interconnected.
2. Therefore if I suppose to use a monocular camera for localization on the pre-built map, rtabmap natively supports only one-camera setup, right? If true, which way, in your opinion, we can choose to improve rtabmap methods for monocular multicam localization support?
3. Will the map built with Vis/EstimationType=0 and OdomF2M/BundleAdjustment=0 will work with Vis/EstimationType=1 and OdomF2M/BundleAdjustment=1 at the localization stage? For instance, we built map with two stereocams, and want to localize with one monocular.

Thanks for your time. Best regards,
Artem