Re: Tips about indoor mapping with laser scan.

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Tips-about-indoor-mapping-with-laser-scan-tp7751p7872.html

Hi Anthony,

It is difficult to see the issue without the bag, but I feel that --OdomF2M/ScanMaxSize 100000000 is quite huge. The highest I tried is 60000. Indoor, Icp/MaxCorrespondenceDistance could also be decreased to 0.5 (while you are using 0.25 voxels).

For the rate, it depends if icp_odometry adds new a keyframe every frame, if so there could more drift over time than when using less scans. --Odom/ScanKeyFrameThr could be decreased to add less often new keyframes.

cheers,
Mathieu