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appliedAI-Initiative / orb_slam_2_ros

A ROS implementation of ORB_SLAM2
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How to reset localization after tracking lost. #73

Closed sarath-vanga closed 3 years ago

sarath-vanga commented 4 years ago

Hi,

I use orbslam2 just for the purpose of visual odometry. When working with different datasets, I have observed that sometimes the tracking is lost and localization is stopped completely.

Is it possible in orbslam2 to reset localization/odometry when tracking is lost?

caiofis commented 4 years ago

There is a parameter to reset the map, you just have to set it to true. It is automatically set to false after the reset. You can do this using rqt_reconfigure or with the command line tool as follows: rosparam set /orb_slam2_mono/reset_map true