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-tp8393p9232.html

Hi,

Parameter `/rtabmap/rtabmap/Marker/Priors` seems to be what you want. The know position of the tags in your XML file could be converted in that parameter. Rtabmap should always received relative position of the tag (camera frame -> tag frame), but with knowing the priors of the tag, the map's graph would automatically transform in world tag frame. Ideally detecting more than one tag will help to better estimate the orientation of the map to world frame.

To have Marker/Priors, you need latest rtabmap, or at least 0.20.21: https://github.com/introlab/rtabmap/commit/b646c5e1db77a685aa400696107dc0f9628eb914 (note that ros binaries are at 0.20.21).

cheers,
Mathieu