Re: Noisy 3D PointCloud, objects not aligned, poor loop closure, and odometry lost

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Noisy-3D-PointCloud-objects-not-aligned-poor-loop-closure-and-odometry-lost-tp8174p8304.html

Hi,

1. MapCloud is created with parameters in MapCloud plugin. For cloud_map, clouds are created using parameters "rtabmap --params | grep Grid/". The max cloud depth may be set for MapCloud but not for cloud_map (which is Grid/RangeMax).

2. See 1. Also, you don't need to add double-dash before param tags.

3. You could use an external odometry that may be more robust for your environment and motion, or avoid all events described here.

4. It is more an issue of the quality of odometry and the loop closures. Having odometry with less drift and more frequent loop closures can help to reduce this effect.

5. You would have to look at the terminal to know why loop closures are rejected, there should be a warning if so (not enough inliers for example). If there is nothing, it means loop closure detector cannot make good hypotheses, Rtabmap/LoopThr (default 0.11) could be lowered to try more hypotheses.

cheers,
Mathieu