Re: Best Practices for Quick Automatic Localization

Posted by dschnabel on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Best-Practices-for-Quick-Automatic-Localization-tp6881p6912.html

It appears that the robot does localize instantaneously on apriltags but in this case I cannot rely on "loopClosureId" to tell me that the robot just localized. This is why I was confused initially and thought apriltags didn't work.

So with my current understanding there are four possible ways in which rtabmap can localize:
1. proximity detection
2. visual loop closure (loopClosureId != 0)
3. manual pose estimation
4. apriltag detection

Is this correct?

Is there any indication in the /rtabmap/info topic (or any other way) when the robot localized via apriltag detection?