Re: Pure Visual Localization

Posted by matlabbe on Sep 10, 2021; 12:53pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Pure-Visual-Localization-tp8417p8567.html

Hi Sean,

The database does increase linearly over time in SLAM mode. This is discussed in this paper (see Fig 17 and 19, note that Mem/ReduceGraph parameter is disabled by default).

To correct odomerty drift, you need either loop closure detection and/or external global localization priors (e.g., vicon, optitrack, GPS).

cheers,
Mathieu