Re: Stereo B Mapping Problem

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Stereo-B-Mapping-Problem-tp9801p9805.html

Hi,

A very repetitive texture like this for the ground is bad for loop closure detection, "wrong" loop closures may be accepted, thus deforming the graph. If you could change the ground texture to something more unique everywhere it will be more realistic.

For the processing time, I would need to see the database for more help on how to reduce it. Afterwards, it is expected that processing time will increase as the map size increase, rtabmap has a memory management approach that is not enabled by default in order to limit the processing time. This is described in this paper.

cheers,
Mathieu