How does rtabmap fuse wheel odometry with visual odometry?

asked 2017-01-06 00:41:29 -0500

JunJun
26 ●6 ●8 ●9

updated 2017-01-08 18:45:57 -0500

I set up my robot with turtlebot and kinect and excute rtabmap.

-- http://wiki.ros.org/rtabmap_ros/Tutor...

I hid the image of the Kinect sensor and moved the turtlebot.

And I moved the turtlebot to calculate the travel distance only with the kinect image.

I think the rtabmap algorithm is internally fusing image information and wheel odometry.

How are you fusing?

And do you have your own paper about fusing wheel odometry and viusal odometry?

Thank you ^ ^

answered 2017-01-09 16:56:08 -0500

matlabbe

6409 ●11 ●96 ●80

Hi,

rtabmap doesn't fuse wheel odometry and visual odometry. There is only one odometry input to rtabmap node (so one or the other can be used). If you want to fuse odometries, look at the robot_localization package for example, then use its odometrry output as the odometry input of rtabmap.

cheers

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I have question.

Where does RTABMAP use the incoming odometry?

JunJun ( 2017-01-11 19:44:50 -0500 )edit

Some examples here: http://wiki.ros.org/rtabmap_ros/Tutor...

matlabbe ( 2017-01-12 09:16:38 -0500 )edit

hmm i want to know how rtabmap algorithm use internally odometry.

JunJun ( 2017-01-12 20:24:10 -0500 )edit

The map's graph has two kinds of links: odometry and loop closure. Odometry is used to set the transform between two consecutive nodes added to map's graph.

matlabbe ( 2017-01-12 22:44:19 -0500 )edit

how does one would use your visual odometry and fuse it with wheel odometry ? if my odom_topic is my wheel odometry it means that theres no visual odometry done ? ty

an99990 ( 2022-07-14 12:54:56 -0500 )edit

rtabmap node doesn't do odometry, it just consumes it. If you don't start rgbd_odometry or stereo_odometry nodes, you can feed rtabmap directly with your own odom topic.

matlabbe ( 2022-10-09 22:35:45 -0500 )edit

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How does rtabmap fuse wheel odometry with visual odometry?

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