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1 | initial version |
You can also try icp_odometry
with the rplidar.
For visual odometry, if you are using rtabmap prior to 0.20.9, add --GFTT/MinDistance 7 --Vis/CorGuessWinSize 40
parameters. For D435 camera, to get the best visual odometry, use the IR left and right images with stereo_odometry
instead of rgbd_odometry
. IR cameras have larger field of view and almost no motion blur, thus a lot more robut visual odometry.
2 | No.2 Revision |
You can also try icp_odometry
with the rplidar.rplidar, in particular with wheel odometry as guess.
For visual odometry, if you are using rtabmap prior to 0.20.9, add --GFTT/MinDistance 7 --Vis/CorGuessWinSize 40
parameters. For D435 camera, to get the best visual odometry, use the IR left and right images with stereo_odometry
instead of rgbd_odometry
. IR cameras have larger field of view and almost no motion blur, thus a lot more robut visual odometry.odometry. See stereo realsense example here: http://wiki.ros.org/rtabmap_ros/Tutorials/StereoHandHeldMapping