Outdoor Localization error while running zed-ros-examples using zed2i camera

Posted by impressivetoken on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Outdoor-Localization-error-while-running-zed-ros-examples-using-zed2i-camera-tp9773.html

Hello,

(i)I actually don't know how to explain this problem on text thoroughly,
What basically is happening is the position in the map isn't moving ahead even if the car is going ahead and the position is moving around in small circles within that small area.
I seriously dont know if i am making sense right now, that is why i am attaching a few recordings of it.
video1.mp4

(ii)I Also am facing a bit of a drift problem even if it is localizing
a video is attached for that as well
video2.mp4

I am attaching another video that can help with the terminal outputs as well
video3.mp4
(is there anything i can do about "not enough inliers" output?, as i am observing a lot of them while localizing even if it is at the right place)

i have also set
OptimizeMaxError = 4.0
LoopThr = 0.07
MinInliers = 7

Can anyone please help me out here.....

Thank you in advance