Re: Adding an async external landmark

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Adding-an-async-external-landmark-tp9592p9647.html

Hi,

With tags, usually the detector will report the relative pose of the tag in the sensor frame detecting it. For example in case of a camera, the pose is in general in camera optical frame. rtabmap will take care to transform that pose in base frame of the robot using TF.

If you know the exact position of the tag in the building, you can indeed use Marker/Priors parameter (with Optimizer/PriorsIgnored=false to use them). See this post as example. The whole map will be aligned with coordinates of your building frame (in which the global position of the tags are).

cheers,
Mathieu