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

Posted by acp on Oct 06, 2020; 11:37am
URL: http://official-rtab-map-forum.206.s1.nabble.com/zed-odom-deviates-from-rtabmap-pose-but-the-3D-map-is-good-tp6950p6987.html

Hi,


Yes I do feed imu to the rtabmap.


Concerning about the big gap before loop closure. Is there  a way to improve the big gap?  I can Imagine the drone flying a bit far, then the map will be twisted, to avoid that,  the drone needs to go to the start point to correct the map.


Cheers