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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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how to fusion icp odometry and visual odometry into a fusion odometry? and some question need to reassure #1247

Closed qetuo105487900 closed 8 months ago

qetuo105487900 commented 8 months ago

how to fusion icp odometry and visual odometry into a fusion odometry?

i get some information from : https://github.com/introlab/rtabmap_ros/issues/398 but the website https://github.com/introlab/rtabmap_ros/blob/master/launch/tests/sensor_fusion.launch is disappeared.

if, can. which odometry i need choose ? and i have some question with this.

[fusion icp odometry and visual odometry]

  1. if icp sensor is blocked , under the threshold, robot can follow visual odometry, and localize on correctly pose ?
  2. if visual sensor is blocked , under the threshold, robot can follow icp odometry, and localize on correctly pose?

[normal rtabmap.launch , i use icp odometry, so just depend on icp odometry ]

  1. not fusion icp odometry and visual odometry together. rely on icp odometry only, if icp sensor is blocked , under the threshold, robot can follow visual odometry, and localize on correctly pose?