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Published 20 hours ago • verified publisher icon UZ-SLAMLab

"Localization Only" Mode Behavior with Multiple Maps

Open makolele12 opened this issue 4 years ago • 4 comments

It looks like when activating "Localization Only" Mode, ORB_SLAM3 will only try to relocalize in the active map and will ignore the non-active ones. Is this the expected behavior? Or am I facing a bug here? I took a look to the paper but did not find anything addressing this.

makolele12 avatar Oct 26 '21 16:10 makolele12

@makolele12 : how do you choose "Localization Only" mode in ORB-SLAM3 ?

brianm-sra avatar Nov 19 '21 00:11 brianm-sra

@brianm-sra In the Pangolin Viewer there is a Localization Only button on the bottom left corner

makolele12 avatar Nov 19 '21 07:11 makolele12

t looks like when activating "Localization Only" Mode, ORB_SLAM3 will only try to relocalize in the active map and will ignore the non-active ones. Is this the expected behavior? Or am I facing a bug here? I took a look to the paper but did not find anything addressing this.

hi, did you figure it out? I am having the same doubt

macTracyHuang avatar Jul 16 '22 08:07 macTracyHuang

t looks like when activating "Localization Only" Mode, ORB_SLAM3 will only try to relocalize in the active map and will ignore the non-active ones. Is this the expected behavior? Or am I facing a bug here? I took a look to the paper but did not find anything addressing this.

hi, did you figure it out? I am having the same doubt

Hi! it looks like it is in fact the intended behavior. In order to be able to relocalize in an old map you need to create a new map from scratch, which involves mapping i.e. deactivating the "localization only mode".

makolele12 avatar Jul 31 '22 18:07 makolele12