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How is RTABMap a SLAM algorithm if it has separate mapping and localization modes?

asked 2021-07-09 01:32:23 -0500

electrophod
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I believe the RTABMAP has mapping and localization modes. Can they both run together? If they can't how is RTABMap said to be a SLAM algorithm?

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answered 2021-07-09 08:53:08 -0500

matlabbe

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Hi,

the mapping mode (default) in RTAB-Map is actually the SLAM mode (loop closures are detected online and graph is optimized online). The localization mode is really a localization mode (the map is not modified).

It applies for all other SLAM algorithms too. For example with GMapping/AMCL tutorials, you would say that you use gmapping for the mapping phase, then use AMCL for the localization phase. In reality, the mapping phase is doing SLAM.

Here other examples where "mapping" means SLAM:

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@matlabbe Thanks a lot for your reply. That perfectly answers my question!

electrophod ( 2021-07-09 10:34:22 -0500 )edit

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Asked: 2021-07-09 01:32:23 -0500

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Last updated: Jul 09 '21

How is RTABMap a SLAM algorithm if it has separate mapping and localization modes? edit

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How is RTABMap a SLAM algorithm if it has separate mapping and localization modes?