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What's the SLAM method in stereo_mapping of rtabmap_ros ?

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

xiqing
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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

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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

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Last updated: Jan 04 '16

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What's the SLAM method in stereo_mapping of rtabmap_ros ?