Re: Outdoor Localization error while running zed-ros-examples using zed2i camera
Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Outdoor-Localization-error-while-running-zed-ros-examples-using-zed2i-camera-tp9773p9796.html
Hi,
I received the data. I'll download the bags later, but for now from what I see in the database, I'll suggest to use rtabmap in stereo mode instead of RGB-D mode as the depth from ZED is valid only closer to the camera. With the current depth, we lose the far features for more accurate motion estimation and better loop closure detection. This is maybe the reason why there are not a lot of inliers.
(as you shared videos above showing similar images, I thought that screenshot was not a problem to share, if it is, just tell me I'll remove it)
Do the bags have also left/right image data? I could give a try in stereo mode when I'll have downloaded the bags.
URL: http://official-rtab-map-forum.206.s1.nabble.com/Outdoor-Localization-error-while-running-zed-ros-examples-using-zed2i-camera-tp9773p9796.html
Hi,
I received the data. I'll download the bags later, but for now from what I see in the database, I'll suggest to use rtabmap in stereo mode instead of RGB-D mode as the depth from ZED is valid only closer to the camera. With the current depth, we lose the far features for more accurate motion estimation and better loop closure detection. This is maybe the reason why there are not a lot of inliers.
(as you shared videos above showing similar images, I thought that screenshot was not a problem to share, if it is, just tell me I'll remove it)
Do the bags have also left/right image data? I could give a try in stereo mode when I'll have downloaded the bags.
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