Re: Using RTAB-Map for graph-based mapping

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Using-RTAB-Map-for-graph-based-mapping-tp8431p8514.html

Hi,

The trick is to use the tag_detections input. For example, we also used it with a CNN approach detecting specific object's pose, by complying to apriltag format.

After that, you may check if your landmark detector detect position with or without rotation. Without rotation, you would have to set 9999 the angular parameters of the covariance matrix for each pose. If your landmark detector doesn't know the error, for convenience with can fix it with those parameters (again, set landmark_angular_variance to 9999 if orientation of the landmark is not estimated).

Last note, there is no mechanism to detect wrong landmark detection and landmarks should be all unique.

cheers,
Mathieu