Re: Pure Visual Localization

Posted by seanxu112 on Sep 10, 2021; 1:43am
URL: http://official-rtab-map-forum.206.s1.nabble.com/Pure-Visual-Localization-tp8417p8564.html

Hi Matheiu,

I see, I have tried RGBD/ProximityBySpace = false, everything seems to work well, but when there is no loop closure for a long period of time, robot pose will start to drift, which is expected, that is why we need loop closures.

Then is the only solution for this to make sure there is more loop closures? The database size scales linearly wrt time, so I am not sure it that is the best solution.

Sincerely,
Sean Xu