Re: Landmark usage

Posted by ferrangg on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Landmark-usage-tp9045p9078.html

Hi,

1), 2) Thank you for the explanations

3) Landmarks were computed internally. I am using the Marker/Length parameter to set the scale (The value is 7 cm, I measured it and it is quite exact). I did some experiments knowing the ground truth of the markers and camera, and I saw that marker error for the created rtabmap links is around 10 cm, and 5 deg. However, I do get some nodes where the position error increases up to 60 cm, and angle error is 45 deg. I solved the issue by setting Marker/MaxRange to 2 m, the Vertigo robust optimization and increasing the default VarianceLinear and Variance Angular. Then the results seem fine.

Thanks for the support,