Re: Best Practices for Quick Automatic Localization

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Best-Practices-for-Quick-Automatic-Localization-tp6881p6930.html

The farther you are from the tag or the smaller it is, the larger the orientation error will be. For example, if the tag is detected 10 meters in from of the robot, an error of 3 deg will make the robot jump 50 cm.

As I remember, I've already thought about adding Marker/MaxRange parameter to ignore detection over a fixed range (to limit the jumps).

To disable loop closure detection and landmark detection dynamically, this can be done through rtabmapviz or by command line:

# disable marker detection
rosparam set /rtabmap/RGBD/MarkerDetection 'false'
# disable loop closure detection
rosparam set /rtabmap/Kp/MaxFeatures -1
rosservice call /rtabmap/update_parameters

Note that I've just found a strange bug when setting parameters from command line, then opening Preferences in rtabmapviz fail. However, rtabmap node should have correctly updated the parameters.

If aprilttag detection inside is used, the database should contain compressed RGB image so that recovery can redetect the tags. If apriltag detection was done outside rtabmap node, the landmark links are indeed lost on recovery (along with the case where images are not saved, we would have to implement the support for landmark links republished in recovery).

cheers,
Mathieu