Re: Lost Visual Odometry

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Lost-Visual-Odometry-tp7103p7125.html

Hi,

In simulated environment like that, rgbd_odometry won't work very well. Don't set Kp/RoiRatios on rgbd_oodmetry, you are filtering all close features useful for odometry (well, you can remove this whole part). With odometry node, use Vis/DepthAsMask, not Mem/DepthAsMask.

Your map was created with husky's odometry? Why not using it during localization/navigation too? The map looks relatively good.

cheers,
Mathieu