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What's the SLAM method in stereo_mapping of rtabmap_ros ?

asked 2015-12-28 00:12:19 -0500

xiqing gravatar image

hello,

I want to learn the stereo_mapping method of the Rtabmap_ros in the http://wiki.ros.org/rtabmap 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 -0500

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: http://introlab.github.io/rtabmap/

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

cheers

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Asked: 2015-12-28 00:12:19 -0500

Seen: 145 times

Last updated: Jan 04 '16