Re: Global Localization (Kidnapping)

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Global-Localization-Kidnapping-tp8578p8583.html

Hi,

there could be warnings in the terminal that a loop closure has been rejected. This could tell at least that a localization has been detected, but for some reasons the transformation could not be computed (e.g., not enough matched features).

I assume that you restarted rtabmap in localization mode?

Mem:
  IncrementalMemory: false

Note also that global localizations will happen only if the robot passes close to a localization in the map with same orientation.