vins-fusion and RTABMAP with the support of Realsense D435i

introlab / rtabmap

RTAB-Map library and standalone application

https://introlab.github.io/rtabmap

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vins-fusion and RTABMAP with the support of Realsense D435i #542

Open getupcurry opened 4 years ago

getupcurry commented 4 years ago

I wonder whether it could be used in turtlebot navigation. As turtlebot works in plane, so the navigation of turtlebot is based on 2d navigation of ROS. I wonder whether the odometry comes from vins-fusion could be used as 2d odometry? As I know, there is a parameter in RTABMAP named "Reg/Force3DoF" , does it could be applied to realize it?

matlabbe commented 4 years ago

No, VINS-Fusion is a 6DoF approach. Reg/Force3DoF would force only graph optimization to be 3DoF, but odometry poses would be 6DoF. Reg/Force3DoF is supported only for F2F and F2M odometry approaches. Implementation of VINS inside rtabmap is here: https://github.com/introlab/rtabmap/blob/master/corelib/src/odometry/OdometryVINS.cpp