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-tp9773p9811.html

(i) rostopic echo /zed/zed_node/left/image_rect_color --no-arr

(ii) not really, just that between mapping and localization, cameras should have similar FOV and same resolution. You could try Vis/FeatureType=Kp/DetectorStrategy=10, or Vis/FeatureType=Kp/DetectorStrategy=2 to use ORB features (which would be more invariant to scale).

You cannot expect to get a localization every frame. Depending the weather and dynamic changes of the environment, the number of localization may vary. You can look at this paper, and it was not even outdoor and the environment was not changing much.

However, if you follow my example, localization should be a lot better than in your initial tests.