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Hi,

RTAB-Map can use laser scans to refine odometry transformations (e.g., wheel odometry). So yes, if you have a LiDAR, this will improve the map. See Kinect+Odom+2D laser configuration for example (many RTAB-Map videos used this configuration). Visual odometry is not used in this configuration to avoid the problems you mentioned (the environment has many white walls).

cheers

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