Re: 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-tp9773p9807.html

Hi,

I actually did not know about the scale invariability of BRIEF. I had a couple of questions related to that....

(i)How can you extract the resolution information from the bag files itself?
(ii)Are there any other things that i need to keep in mind with the scale invariability of BRIEF?....

Also, The thing with my project is that i have to localize everything in real time cause i am trying to navigate the vehicle autonomously which would require real time localized values to be taken.

So, keeping what you told me about resolution in mind, I decreased my resolution and it localizes upto a certain extent.

What I mean by certain extent is that it localizes a couple of times and doesnt for the other(It basically shows loop closure rejection with not enough inliers, its not 0/20 this time. it usually states that it has 10-15 inliers atleast).

Is there anything else that i can do here?

P.s. - I Will try running the localization using bag files as you asked and update you in a couple of days.

Thanks!