search

introlab / rtabmap_ros

RTAB-Map's ROS package.
http://wiki.ros.org/rtabmap_ros
BSD 3-Clause "New" or "Revised" License
922 stars 549 forks source link

Improve Mapping Qaulity #1068

Closed 360wcui closed 7 months ago

360wcui commented 7 months ago

We have a custom camera setup. We are able to port in point cloud, hires, and vio for rtabmap. Below is the resulting 3D map in RViz. I wonder if there is anything we can do to further improve mapping quality. Thank you.

Screenshot 2023-11-18 at 10 22 04 AM
360wcui commented 7 months ago

The hires, vio, and point cloud are published at 5 Hz

matlabbe commented 7 months ago

Is it with a TOF camera? In term of quality, do you mean point cloud noise, color, misalignement? The frame rate is not that important on mapping side as long as the VIO pose and all image topics are already synchronized.

360wcui commented 7 months ago

Yes, we use a ToF sensor. Th max range is about 5m.