Issue with multi camera mapping

Posted by Sapana Khemkar on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Issue-with-multi-camera-mapping-tp7015.html


 Hi,
 
We are trying to generate 3D map of typical office environment using rtabmap. We have 2 wheel robot with 360 degree 2D LiDAR, wheel encoder and two realsense D435i camera.
 
Initially we used single realsense camera. After reducing range of camera to 2m, we have successfully generated small area maps and merged them using standalone rtabmap application in multi-session settings. But due to reduced camera range, FoV has been reduced a lot. To improve FoV, we have decided to use two realsense D435i cameras with rtabmap.


Here is our launch file and db file.
Launch File: https://drive.google.com/file/d/1o2SO_IMW_VoYwcYUJ90-PwVAjFSNBHl_/view?usp=sharing
DB File: https://drive.google.com/file/d/1NTCxHJrsGOeKi439o1P4HrT3khyouoq_/view?usp=sharing

Issues/Queries
1. Due to repetitive visual features in office environment, rtabmap 3D loop closures is failing and causing a jump in rtabmap odometry.

 2. During mapping, if rover is not rotated in-place them map quality is better if compared with in-place rotatory motion. But, the disadvantage is surroundings are not properly included in generated map.

 3. We tried RGBD/ProximityMaxGraphDepth value 0, 10, 30 and 50 for better loop closure. But not much improvement.

 4. We have not faced this issue when mapping using single depth camera.
 
Can you please suggest what is going wrong in mapping?


Thanks,
Sapana