Re: How to improve mapping accuracy based on ArUco identification code?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-improve-mapping-accuracy-based-on-ArUco-identification-code-tp8393p9089.html

Hi Javad,

In your code, the landmark should have negative ids.

Note that a marker prior parameter has been added recently to do so.

rtabmap --params | grep Marker/Priors
Param: Marker/Priors = ""                                  [World prior locations of the markers. The map will be transformed in marker's
                                                            world frame when a tag is detected. Format is the marker's ID followed by its position 
                                                            (angles in rad), markers are separated by vertical line ("id1 x y z roll pitch yaw|id2 x y z
                                                             roll pitch yaw"). Example:  "1 0 0 1 0 0 0|2 1 0 1 0 0 1.57" (marker 2 is 1 meter forward
                                                             than marker 1 with 90 deg yaw rotation).]
Param: Marker/PriorsVarianceAngular = "0.001"              [Angular variance to set on marker priors.]
Param: Marker/PriorsVarianceLinear = "0.001"               [Linear variance to set on marker priors.]

In your case, setting this:

Marker/Priors="104 10 0 0 0 0 0"

will make the map translate so that landmark 104 is on absolute pose 10 meters in x.