TimeThr

Posted by cjsurjadi on
URL: http://official-rtab-map-forum.206.s1.nabble.com/TimeThr-tp9908.html

Hi,

I'm trying out the LTM/WM strategy to improve online performance of RTAB-Map. I mapped the same small office area with the Rtabmap/TimeThr:0 and Rtabmap/TimeThr:700 to compare. However, I found out that the mapping timing is slower for when the Rtabmap/TimeThr:700. I can see that the local graph size is lower for the database with time threshold so I suppose the long-term memory strategy is working. Is this behaviour expected?

The database when the time threshold is set as 700 and 0 can be accessed in threshold database and no threshold database.