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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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Monocular camera and imu #1162

Open SaiPuneeth666 opened 1 month ago

SaiPuneeth666 commented 1 month ago

Hi, I would like to use monocular camera with imu data. I do not want to use stereo cameras. Is there a way to use them without using third party SLAM algorithms. And when using IMU data, what is this data used for in stereo setting. Is it used in just the filter or used in creating depth information?

Thanks in advance.

matlabbe commented 3 weeks ago

We don't provide a VIO solution out-of-the-box in this repo. To do IMU+Monocular, you will ned to find a package doing it and feed the pose to rtabmap. Rtabmap can subscribe to only a monocular camera with a pose, but Mem/StereoFromMotion should be enabled to close loop closures.

For stereo odometry + IMU, we do a loosely coupled VIO, using IMU mostly to help feature matching (rotation) and to add gravity constraints to graph. If visual features cannot be matched, odometry will be lost (there is no pose estimation with only IMU). Odometry output frequency is limited to image rate, not imu rate.