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-tp6647p6744.html

Hi Mathieu,

My multicam mapping research is ongoing. I have two trajectories in the same room. One for mapping, another for localization (loop closure) tests. My setup is as following:

Frontal stereopair: cam_101/cam_102 Rear stereopair: cam_105/cam_106

Forward drive in and revers drive out of corridor

Forward drive out of corridor

At the mapping stage robot drives into the corridor heading into with cam_101 and 102, and drives out in reverse, heading with cam_105 and cam_106 (rear stereopair).

At the localization stage, I've encountered the problem: RTAB-Map doesn't make loop closure, and returns that there is too large rotation. It seems that it linked with this and different position of cameras on mapping and localization stages. (I 've tried to change their tfs on localization and it worked on start) But I still can not figure out how to fix such behavior.

[ INFO] [1592557375.271930197, 1591637994.530363555]: rtabmap (2932): Rate=1.00s, Limit=0.000s, RTAB-Map=0.1445s, Maps update=0.0017s pub=0.0000s (local map=0, WM=2729)
[ WARN] (2020-06-19 12:02:56.434) util3d.cpp:604::cloudFromDepthRGB() Cloud with only NaN values created!
[ WARN] (2020-06-19 12:02:56.508) Rtabmap.cpp:2144::process() Rejected loop closure 2764 -> 2933: Too large rotation detected! (pitch=0.000000, yaw=0.000000) max is 3.141374

Thanks for your time. Best regards,

Artem