/zed/odom deviates from rtabmap pose but the 3D map is good

Posted by acp on Sep 23, 2020; 1:30pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/zed-odom-deviates-from-rtabmap-pose-but-the-3D-map-is-good-tp6950.html

Hi People :)




I was plotting the /zed/zed_node/odom  and also the rtabmap/pose  that is in MapGraph.








As you can see in the pictures in the beginning both topics match each other and the more the map is covered, the /zed/zed_node/odom deviates considerably from the rtabmap/pose.

But the /zed/zed_node/odom follows the rtabmap/pose.


Also, I can see that the /zed/zed_node/odom deviates from the origin position a lot, just when the rtabmap finds a loop closure the map get corrected but the /zed/zed_node/odom  remains shifted except in the final position.


Also, there is a big gap before the map finds a loop closure, shouldn't be like this, although the map gets corrected on loop closure.


Do you have a clue why is like this ?


Thank you