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-tp6881p6936.html


The apriltag detection is done only using the RGB image. The depth would be used for initialization if Marker/Length is 0 (default). To be totally independent of the depth image, set Marker/Length to real width of the marker.

If you are using Apriltag2 dictionary (Marker/Dictionary=19 or Marker/Dictionary=20), set Marker/CornerRefinementMethod to 3 to use apriltag2 refinement approach, which may give better results.

cheers,
Mathieu