Re: How to limit teleportation distance in localization mode?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-limit-teleportation-distance-in-localization-mode-tp9081p9091.html

If /map -> /odom jumps, this is localization. If /odom_icp -> /odom jumps, it is icp_odometry. If /odom -> /base_link jumps, it is wheel odometry.

icp_odometry can drift a lot if there are not a lot of geometry constraints (e..g, lidar seeing only one line of points).