Re: Aruco Marker Landmarks error in Localisation after good mapping.

Posted by on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Aruco-Marker-Landmarks-error-in-Localisation-after-good-mapping-tp9144p9196.html

Thanks: now revisiting this with RTAB-Map version = 0.20.21

I use no "package for aruco marker detection" ( but markers are aruco_detect based).  I just set params in RTAB-Map and it now seems to work fine both in mapping and localisation.  Markers are detected well in rtabmapviz.

Still getting loop closure icp errors, (and ARUCO markers do not seem to help to remove these) e.g. in db downloadable from here at:  https://drive.google.com/file/d/1ljo05eKDJ8a7hxtJey4OZLxOEMgipqyk/view?usp=sharing 

typical erros =

[ INFO] [1668037684.773586831]: rtabmap (563): Rate=0.33s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.5541s, Maps update=0.0132s pub=0.0000s (local map=494, WM=491)
[ WARN] (2022-11-10 10:48:04.782) MainWindow.cpp:1923::processStats() Processing time (0.549191s) is over detection rate (0.333333s), real-time problem!
[ WARN] (2022-11-10 10:48:05.013) RegistrationIcp.cpp:552::computeTransformationImpl() ICP PointToPlane ignored as structural complexity cannot be computed (from=0.000000 to=0.000000)!? PointToPoint is done instead.
[ WARN] (2022-11-10 10:48:05.013) RegistrationIcp.cpp:687::computeTransformationImpl() libpointmatcher icp...temporary maxDist=0.05 (Icp/MaxCorrespondenceDistance=0.050000, Icp/VoxelSize=0.050000)
[ WARN] (2022-11-10 10:48:05.018) RegistrationIcp.cpp:816::computeTransformationImpl() not supposed to be here!
[ WARN] (2022-11-10 10:48:05.358) Rtabmap.cpp:3560::process() Rejecting all added loop closures (1, first is 564 <-> 541) in this iteration because a wrong loop closure has been detected after graph optimization, resulting in a maximum graph error ratio of 3.016655 (edge 379->380, type=0, abs error=5.465732 deg, stddev=0.031623). The maximum error ratio parameter "RGBD/OptimizeMaxError" is 2.500000 of std deviation.
[ WARN] (2022-11-10 10:48:05.358) Rtabmap.cpp:3585::process() Loop closure 564->541 rejected!
[ INFO] [1668037685.375852705]: rtabmap (564): Rate=0.33s, Limit=0.000s, Conversion=0.0011s, RTAB-Map=0.5886s, Maps update=0.0114s pub=0.0000s (local map=494, WM=491)