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What's the SLAM method in stereo_mapping of rtabmap_ros ?

asked 2015-12-28 00:12:19 -0600

xiqing gravatar image


I want to learn the stereo_mapping method of the Rtabmap_ros in the website . But I just learned that it is a RGB-D Graph SLAM approach based on a global Bayesian loop closure detector. I want to know what's the specical mechod of slam ,such as KF-SLAM 、PF-SLAM or Graph optimization?And are there any papers about that slam method?

Thank you very much for your help!!!

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answered 2016-01-04 09:07:45 -0600

matlabbe gravatar image

It uses graph optimization (TORO, g2o or GTSAM) to correct the map on loop closures. You can find the related papers on top of the project page:

However, there is no paper about the SLAM front-end (stereo odometry) yet :P


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Asked: 2015-12-28 00:12:19 -0600

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Last updated: Jan 04 '16