Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Issue facing in rtabmap_ros during localization at night time

rtabmap_ros

asked 2017-01-16 23:01:08 -0500

Atul Divekar

26 ●9 ●11 ●12

Hi, I am working on one project for which I am using rtabmap_ros package for localization, but I am facing one issue in it. As we knew rtabmap_ros package uses the following image data

                  <remap from="rgb/image" to="/camera/qhd/image_color"/>
          <remap from="depth/image" to="/camera/qhd/image_depth_rect"/>
          <remap from="rgb/camera_info" to="/camera/qhd/camera_info"/>

for mapping and localization. During day time the pkg localizes the mobile robot perfectly without any issue But at evening time, as we make light's on, it doesn't gets localize at some position. Please can any one suggest me Why it's not getting localize and what must be issue in. Or do we have to remap this image topic to other images type. Also Is there any parameter to solve this issue in rtabmap_ros pkg?

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2017-01-23 18:56:49 -0500

matlabbe

6409 ●11 ●96 ●80

Illumination/lighting change is challenging for image-based localization. The visual features can be very different between night and day. If you have a LiDAR, rtabmap could still localize when visual localization is not working for a short time. Another solution could be to map another time at night time, so you can localize either in the "night" map or the "day" map. If some places have similar lighting between day and night and rtabmap is able to visually find a loop closure, rtabmap would be able to merge the maps together (so no need to switch manually between day and night maps).

cheers

edit flag offensive delete link

Comments

Sorry for the late reply. And your suggestion work for me. Thanks for reply.

Atul Divekar ( 2017-02-01 04:51:41 -0500 )edit

add a comment

Question Tools

2 followers

Stats

Asked: 2017-01-16 23:01:08 -0500

Seen: 170 times

Last updated: Jan 23 '17

Issue facing in rtabmap_ros during localization at night time edit

1 Answer

Comments

Question Tools

Stats

Related questions

Issue facing in rtabmap_ros during localization at night time