Re: Realtime Map Merger Improvements

Posted by derektan1995 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Realtime-Map-Merger-Improvements-tp8200p8256.html

Hi Mathieu,

I have been thinking: Can we possibly use Apriltags to force a loop closure? I got some inspiration from this post.

http://official-rtab-map-forum.206.s1.nabble.com/Best-Practices-for-Quick-Automatic-Localization-td6881.html#a6899

Here are the possible steps:
1) On the Map Server, initialize a database with a few nodes containing apriltags, located at the areas where the robots starts mapping.
2) When each of the robots starts mapping, they will see the april tag and record it in their infividual mapData msg.
3) The map merger server will receive these mapData msg. Given that it is on Multi-session mode, it will correlate the apriltags from the initialized database, and those from the mapData msg from the robot, forcing a loop closure.

What you do think? Thanks!
Derek