how to perform localization based on ceiling

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Hi,

RGBDSLAM and RTABMAP are visual features-based SLAM, so if the ceiling has enough visual features and there are some discrimitive area (for localization/loop closure), they may work. The ceiling must be also in the depth range of the camera.

Note that RTABMAP can also work with only a RGB camera to detect loop closures (localization). This mode could be used to localize the robot based purely on the location appearance (e.g., it will tell that you are "near" a location in the map, without transformation estimation).

cheers, Mathieu