Re: Monocular mapping on RPi with low depth quality

Posted by utrecht on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Monocular-mapping-on-RPi-with-low-depth-quality-tp6832p6840.html

Hi, thank you for your response,

The issues that you voice over the scale are perfectly sound, but my purpose is not to create a robust and accurate approach at this time, but simply making it work. I know RTAB-Map requires depth information, so I wanted to emulate a fake RGBD camera hence the use of the neural net. Right now, it's okay if the map created by RTAB-Map is very poor, as long as it doesn't look like complete garbage data.

Disregarding issues with scale and loop closure, would you be able to recommend what parameters should be changed and how for handling poor depth quality?

Thanks!