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introlab / rtabmap_ros

RTAB-Map's ROS package.
http://wiki.ros.org/rtabmap_ros
BSD 3-Clause "New" or "Revised" License
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The detection effect of the external odometer loop is worse than that of using a visual odometer，why? #1017

Open tandongxu0604 opened 1 year ago

tandongxu0604 commented 1 year ago

Hello, I am trying to transfer an external odometer to the rtabmap node. This external odometer is transmitted through a robot_ Localization obtained. But when the rtabmap node is building the map, the loop detection effect is much worse than using a visual odometer.The former will have many ghosts. May I ask what the problem may be? My rtabmap detection frequency is 1HZ, is it because the detection frequency is too low? this is my launch:

matlabbe commented 1 year ago

It could depend if the odometry is drifting more, or the odometry covariance is poorly balanced in comparison to ones added during loop closure detection.