About rtabmap when using various sensors

Posted by plaid on
URL: http://official-rtab-map-forum.206.s1.nabble.com/About-rtabmap-when-using-various-sensors-tp8808.html

1) I would like to compare the self-positioning of the camera with lidar and the camera alone. Is there any good way to do this?　Ideally, I'd like to be able to display the path as a line.

2) Also, when I'm using wheel+imu for odometry and rtabmap for camera only, sometimes the map suddenly goes wrong: the robot on rviz suddenly jumps and the map is generated in dozens. What is the cause of this and how can I fix it?

3) I want to use Lidar to make up for the shortcomings of visual slam, can I do that with rtabmap?　Can I use rtabmap to do that? If so, I would like to know what can be complemented and how to do it.

I apologize for the length of the above three points, but please help me!