Re: RTAB-Map on Visual Studio 2012 and stereo mapping example

Posted by yanmingz on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-on-Visual-Studio-2012-and-stereo-mapping-example-tp624p679.html

Hi Mathieu,

I have some questions about how to setup experiements, which may not be that direclty related to your algorithms. I really appretiate it if you could give me some answers.

Now I have a P3-DX and a stereo camera. I want to install the camera on the P3-DX and then measure the accuracy of the map and trajectory estimated by your algorithms.

My questions are:
1. Our robot will run indoors in a good enviorment. The floor is not slippy and very flat. I want to use the output of wheel encoder as the ground truth of trajectory. Is this OK?
2. Do I need to measure the relative pose between the camera, the P3-DX platform, and the wheel? I notice you set an ideal value to "camera_base_link" in the launch file of your tutorial. Could you provide some links or papers for me how to deal with these things?
3. Could you provide some papers about how to measure the accracy of maps and trajectories?

Thanks a lot.

Best regards
Yanming