Re: How to process RGBD-SLAM datasets with RTAB-Map?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-process-RGBD-SLAM-datasets-with-RTAB-Map-tp939p940.html

Hi Leo,

To compare with other approaches, you may want to look what they are using as metrics in other papers. The commons metrics I have seen are:
1. Odometry/Localization metrical accuracy (rmse) as with the rgbd-slam datasets above,
2. Loop closure detection precision/recall rate as in the Benchmark page.

With the standalone, you can open a previous database, download all clouds or graph, then export the poses (File -> Export poses). If you want to look more deeply to other statistics provided by rtabmap, you can look at the Statistics panel (you can after export shown statistics by right-clicking on the legend item and select "Copy data to clipboard").

cheers