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RTABMAP Navigation without providing a map

asked 2021-07-03 10:02:52 -0500

Delbina
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Hello!

I have been searching but haven't found out how the navigation stack works when no static map is given. My questions are:

1) Can Rtabmap be run without a static map? If yes, how is localization done? 2) How are you able to specify a goal position for the robot without a map? 3) How is global planning done without knowledge of the environment?

Thanks!!

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answered 2021-07-04 07:33:35 -0500

Mike Scheutzow
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rtabmap is a tool. It's not used for "standard" navigation. It's purpose is to build a map using sensors on the robot. Localization is often done by odometry from wheel encoders, or sometimes by gps when outdoors. It's an on-going research problem on how to correct the localization drift once enough data is gathered.

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Asked: 2021-07-03 10:02:52 -0500

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Last updated: Jul 04 '21

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RTABMAP Navigation without providing a map