Re: Visual odometry drift when rotating

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Visual-odometry-drift-when-rotating-tp7441p7446.html

Hi,

First, I recommend to build rtabmap with libpointmatcher if you are going to use icp_odometry and see this example:
https://github.com/introlab/rtabmap_ros/blob/e7567cc3b9125f5011588b26ce8c704c73dddf4f/launch/demo/demo_hector_mapping.launch#L49-L68

Otherwise, with default rtabmap binaries, you could play with this parameter:

<param name="Icp/MaxCorrespondenceDistance" type="string" value="0.1"/>
<param name="Reg/Force3DoF" type="string" value="true"/>

Note that IMU is not really used for 2d scan.

cheers,
Mathieu