Re: About mapping

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/About-mapping-tp8756p8758.html

Hi,

Is it icp_odometry? It looks like it is a TOF camera -like point cloud and very flat surfaces in the environment (is it a simulated environment?). If ICP doesn't have enough geometric constraints in all three axes (x-y-z), it will drift fast.

To be more robust to that kind of environment, a larger field of view sensor/camera (or multiple cameras) would be required.

cheers,
Mathieu