Re: Landmark usage

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Landmark-usage-tp9045p9068.html

Hi,

1) A landmark could be rejected if it deforms too much the graph.

2) When the slider on left (at iteration 0), this is the graph with odometry only (no optimization). Checking or not iterative checkbox should give similar results, unless covariances are too large and many solutions are valid (many local minimum). In ros, it is indeed the non-iterative version that is applied. The iterative version is to extract graphes after each iteration step, to show them with the slider in dbviewer.

3) Can you share the database? How the landmarks are computed? internally in rtabmap or externally? If externally, the scale of the landmark should be carefully set to avoid detecting them farther or closer than reallity, which will add more error in the map.

cheers,
Mathieu