Re: How to limit teleportation distance in localization mode?

Posted by Divelix on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-limit-teleportation-distance-in-localization-mode-tp9081p9103.html

Sure, there it is.

For instance, if I move close to one of these similar places (red arrows), rtabmap will accidentally localize to another one. Scenes in both places contain practically identical walls of low res wood texture. I would like to restrict rtabmap from localize more than 1-2 meters away from /icp_odom to prevent such teleportation behavior.