Re: Pure Visual Localization

Posted by matlabbe on Sep 02, 2021; 7:44pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Pure-Visual-Localization-tp8417p8503.html

Hi,

got late to answer this post, the database is not available anymore. Anyway, on localization mode, you should still provide odometry to rtabmap node. If you used t265 odometry for mapping, continue to use it in localization mode.

Yellow loop closures are proximity detections, they can be disabled with RGBD/ProximityBySpace = false. Proximity detection uses the odometry to guess where the robot is now, then choose the closest node in the map to it and try to estimate a transformation (with Vis/ parameters). If you increase Vis/MinInliers, only loop closure/proximity detections with better transformation estimation would be accepted. The Odom/ parameters are not used if you feed external odometry to rtabmap.

You can also set Rtabmap/DetectionRate to 0 if you want to localize more often (do this only in localization mode).

cheers,
Mathieu