Stream features to RTAB-Map?

Posted by MaxRies on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Stream-features-to-RTAB-Map-tp8678.html

Hi all,

I'm working on a research project where we will have a fleet of robots in a logistics environment.

The robots have some nice sensors on them that can on-the-fly calculate ORB-features from whatever they see.

I know that you can build rtabmap with ORB and I did some thinking - we could drastically reduce network overhead by just streaming the features to RTAB-Map instead of sending the whole image/pointcloud.

I tried to dig in the code and find a way to make this work, but I couldn't find an obvious entrypoint.

Has somebody done this before?
Or has anybody any idea where the feature points are passed to the mapping process?

With kind regards,
Max