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-tp6881p6933.html

Your explanation makes sense. A "Marker/MaxRange" might make sense, though in my case there were still significant jumps even if very close to the marker. This might be because my depth/color images (Realsense D435) sometimes have noise which could mess up the pose calculation.

I see, I can also disable marker detection by setting the rosparam. Good to know!

Yes, I used apriltag detection inside rtabmap and images are not saved, so that explains why a recovery/reprocess won't preserve landmarks.

I think what I will do is to record a database (master) with images and move that database from my robot to my PC because it will take up too much disk space on my robot. Then I will reprocess the master db and strip all images. The new trimmed down db I will copy back to my robot and use it for navigation purposes. I think this way the landmarks should be preserved.