Rtabmap localization with rgbd and lidar

asked 2019-10-18 14:01:16 -0600

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updated 2019-10-18 14:36:19 -0600

I have a 2d lidar and rgbd camera. The camera is located very low, like 5 cm above the ground and I have few questions about the rtabmap

My environment is very dynamic and very often the concrete floor has a lot of features. Does rtabmap localized based on the features? If yes, how good is it?
Does rtabmap fuses both lidar and camera localization? As I saw that rtabmap has ICP, is it only for the odometer or for the pose estimate?

answered 2019-10-22 16:37:35 -0600

matlabbe

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By features, do you mean visual or geometric features? rtabmap uses visual features for global localization and can use lidar to refine localization. For loop closure detection / localization comparison with other algorithms, see this paper (Appearance-Based Loop Closure Detection for Online Large-Scale and Long-Term Operation).
ICP can be used to refine odometry and to refine loop closure detections / localizations. For example, the motion estimation of a loop closure / localization is computed visually from the camera, then optionally refined using ICP with the lidar. The whole pipeline is described in this paper (RTAB-Map as an Open-Source Lidar and VisualSLAM Library for Large-Scale and Long-Term OnlineOperation).

cheers,
Mathieu

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@matlabbe I see. So if I want to localize both with visual and ICP, should I choose Reg/Strategy 2?

EdwardNur ( 2019-10-24 14:40:06 -0600 )edit

Reg/Strategy=1 is more efficient. If needed (in case we don't have any a priori guess of the transformation), a visual estimation will still be done using camera.

matlabbe ( 2019-11-03 14:31:23 -0600 )edit

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