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I just keep getting double walls in rtabmap when using it on my robot. I am using a Kinect to map the building. Settings: http://pastebin.com/CDtTe0JV
The result:
EDIT in response to matlabbe: My odometry source is from the create_autonomy using the roomba 780. I know it has a reasonable drift. The launchfile I am using is RGBD_mapping.launch http://pastebin.com/q6B3S6HD
Hi,
if the laser scans are fake laser scans from Kinect, I don't recommend using them for ICP refining (causing more errors as they are not very precise with small FOV). Set --Reg/Strategy 0 --RGBD/NeighborLinkRefining false in rtabmap_args. I see some jumps in odometry. What happens if you disable loop closure detection by adding this --Kp/MaxFeatures -1 to rtabmap_args? The odometry should be smooth, if there are still jumps, there is a problem with odometry. Otherwise it may because of loop closure detection. Try with --Vis/MaxDepth 3.5 to limit the distance of features used for loop closure transformation (features over 4 meters are very noisy with Kinect v1).
EDIT
For loop closure, you can also try increasing --Vis/MinInliers 30 or re-extract features when computing the transformation --RGBD/LoopClosureReextractFeatures true, you may also want to disable --RGBD/ProximityBySpace false to avoid adding constraints with the fake laser scans.
cheers
I changed the parameters you said and did not really see an improvement. For some reason it saw a loop closure at the wrong time ruining the whole scan. Then I disabled loop closures and actually it worked quite well. Except for the fact that my odometry is really bad.
Asked: 2016-12-21 07:53:50 -0500
Seen: 683 times
Last updated: Jan 05 '17
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What is your odometry source? and which launch file are your using (copy/paste stuff related to rtabmap here)?
Edited the main question