Re: ZED2 rtabmap loop closure and twisted map

Posted by acp on
URL: http://official-rtab-map-forum.206.s1.nabble.com/ZED2-rtabmap-loop-closure-and-twisted-map-tp6986p6999.html

Hi Mathieu,

I have run the rosbag with two versions of rtabmap, namely;

rtabmap  V 0.0.20 under Ubuntu 16.04 and rtabmap

and

rtabmap V 0.20.4   under ubuntu 18,04.1

 
In version 0.20 the loop closure happens as soon the camera has visited a previous location and has the same point of view as you can see it with the red circle, also there are more loop closures as you can see it with the lines that connect the 2 paths.






In version 0.24 the loop closure happens  almost at the and of the trajectory as you can see it with the red circle, also there are less loop closures as you can see it with the lines that connect the 2 paths.





I do not have the same data base but I send you another one which is similar.

https://nextcloud.fit.vutbr.cz/s/gjYk5amdYWAmP5D https://nextcloud.fit.vutbr.cz/s/gjYk5amdYWAmP5D


I will play with the parameter Rtabmap/LoopThr


Just wondering if there is a parameter of a way to:


1.- Avoid the map gets to twisted before loop closure and also the map is not aligned with the ground.


2.- To avoid  a big gap just before loop closure happens