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3d SLAM with kinect and rtabmap

asked 2021-08-23 07:42:06 -0500

masterkey
11 ●6 ●9 ●9

Hello,

I have a rover with a kinect camera. I want to use it to perform SLAM and navigate.

I have installed rtabmap and octomap for this. I can now drive the rover and get a 3d map in rviz. Odom I get from ackermann_driver_controller (wheel odometry). The problem is that the wheel odometer always makes a small error and my map keeps warping.

With rtabmap loop closure is possible. Also rtabmap gives me rtabmap/odom. Is this enough to correct the map or to correct the wheel odometer? If yes, how does this work?

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answered 2021-09-03 14:44:02 -0500

matlabbe

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I would suggest to use only one odometry at this stage (probably only wheel odometry), to avoid TF issues. For loop closure detection, you have to revisit the an old location with a similar point of view (best is with same position and orientation) to maximize the chance to find a loop closure.

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Asked: 2021-08-23 07:42:06 -0500

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Last updated: Sep 03 '21

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3d SLAM with kinect and rtabmap