Double walls in Realsense dual mode

Posted by quizzy5889 on Jun 24, 2021; 3:27pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Double-walls-in-Realsense-dual-mode-tp8236.html

Hi Mathieu,
I am quite new to rtabmap and I am doing the first tests to try to reconstruct an indoor environment in RealSense dual mode (T265 + Lidar L515).  I tried to search a bit in the documentation, but I'm not sure if anyone else happened to be in the same condition.

Basically, L515 and T265 were accurately placed with a known transformation between them. The transformation was entered as an input parameter.

The problem is that during the reconstruction some walls appear double and I don't understand where the problem could come from:

* The rolling shutter of the RGB camera causing an inaccurate loop closure? However, it does not seem to me that there were any loop closures in this case.

* Inaccurate mounting?

* ICP?

Could you kindly direct me on how to try and debug the problem?

I attach all attachables

Thank you very much,
Andrea




config_L515_T265.ini