there is something wrong with the result

[fruffendi]

Hello,

recently, i try to mapping inside of my house just only using kinect 360 + RTABMap desktop (not using any robot) but the result does not satisfy me.

as you can see:





for the database :

https://drive.google.com/open?id=1BN2-pQYyMN2VZ0c5PYVowj1_OoG89Ot6

can you help me to solve these problems? and give the best configuration to avoid drifting and more loop closure detection and good visual ?

thanks

[matlabbe]

Hi,

Looking at the database data using rtabmap-databaseViewer (or Tools->Edit database...), the depth image is not or poorly registered to RGB image. Which camera driver did you use? OpenNI2? Normally, the default calibration parameters for Kinect for XBOX 360 should give better registered images than that.

See how the color doesn't match the geometry:


cheers,
Mathieu