RTAB-Map with odometry and laserscan

asked 2016-01-29 15:56:14 -0500

Jack000
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just getting started with ROS. I've got RTAB-map working with a kinectv2, but I'm seeing loss of tracking when there aren't enough feature points in the camera view.

I was wondering if adding odometry input would alleviate this problem in the actual robot? Would a laser scanner improve accuracy as well?

I'm contemplating buying a laser scanner as per: http://wiki.ros.org/rtabmap_ros/Tutor...

but I'm not certain how the laser scan interacts with RTAB-map. It says that the laser scan is used to construct a 2d occupancy grid, but that can already be done without RTAB-map. Is the 2d laser scan data used to improve performance in the 3d SLAM at all?

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As you said the problem is when there are not enough features on the current image. The odometry info probably improve the perfomance. I don't think that laser scan alleviate that, it is use to get better results on the mapping but not have any influence on the issue that you mention.

jcardenasc93 ( 2016-03-18 20:23:43 -0500 )edit

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answered 2016-03-21 14:39:59 -0500

matlabbe

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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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Thanks for the info and I really like your loop closure method

jcardenasc93 ( 2016-03-21 22:49:05 -0500 )edit

Can you use RTAB-Map to build a 3D map with Laser/Odom information ONLY? Any tutorial I have seen uses some form of depth image/optical image to build up a pointcloud/point map.

I know that the whole purpose is to use imagery, but I would my current robotic application my not allow for that.

atomoclast ( 2016-12-19 16:11:48 -0500 )edit

2D laser scans (LaserScan input) or 3D laser scans (arbitrary PointCloud2 input) can be used to output a 2d occupancy map or a 3d cloud/octomap respectively. A camera is required only for loop closure detection (if you sync fake empty images, you could get what you want but without loop closure).

matlabbe ( 2016-12-22 12:05:54 -0500 )edit

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RTAB-Map with odometry and laserscan

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