search

introlab / rtabmap_ros

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

How to choose between Scan-to-Scan or Scan-to-Map approach for 3D LiDAR odometry? #1137

Closed astef3 closed 3 months ago

astef3 commented 3 months ago

Hi, firstly I want to say that you did an outstanding job with RTABMap, it really works amazing. Through out the process of working with it, as far as I have read in the paper for RTABMap in the Lidar odometry explanation it says that there are two differnet approaches for estimation of the odometry: Scan-to-Scan or Scan-to-Map.

Currently I am using Velodyne VLP16 sensor for estiamtion of the odometry and things work quite good (I am using the /rtabmap_examples/launch/test_velodyne.launch with small adaptations). I am running it on ROS Noetic. What I am interested is if someone can help me with instructions on what should I change/set in order to change the approach of estimation (S2S or S2M).

I will be beyond grateful for every help, in case I need to provide more details I would gladly do so. Thank you in advance!

matlabbe commented 3 months ago

Hi, thanks for the cheering!

To switch between S2S and S2M, you can set Odom/Strategy to 1 or 0 (default) respectively. A tip from past experiences, the lower Odom/ScanKeyFrameThr is the more accurate the odometry will be, but the more likely it can lose tracking, so there is a trade-off there.

cheers, Mathieu

astef3 commented 3 months ago

Thank you for the fast response @matlabbe ! Thank you for the advice, you have saved me a lot of time!

Best regards, Aleksandar