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-tp6586p6689.html


Hi,

With Optimizer/Robust, a loop closure can be detected but the graph doesn't get optimized as some loop closure links may be wrongly ignored by Vertigo. This option is difficult to tune because we should carefully set covariance of odometry links and loop closure links.

You may try also this config: Optimizer/Strategy=1, Optimizer/GravitySigma=0, Optimizer/Robust=false, RGBD/OptimizeMaxError=3


To make sure that Optimizer/GravitySigma is working properly, you can show the gravity links in rtabmapviz (Preferences->3D Rendering, scroll down, enable "Show IMU filtered gravity."). If the gravity lines are not always vertical going down, then enabling Optimizer/GravitySigma will make it worst. This could help to see if there is a strong TF problem between camera and iMU.

cheers,
Mathieu