Alex Kunin

Using depth->scan for Lidar based algorithms in addition to RGB-D VSLAM

4

Hi Mathieu, Our setup has 4 RGB-D (~6 meters range) cameras covering almost 360 FOV. I explore ways to improve loop-detection accuracy that is not perfect now (sometimes there are...

RGB features without depth for loop closure detection and motion estimation

1

Hi @matlabbe, Our RGBD camera has large FOV in RGB than in Depth. We'd like to utilize RGB features even where Depth is not available. If we disable Mem/DepthAsMask and...

wheels odometry integration

1

Hello, is it possible to use wheel odometry as one of the modalities? If yes - where to integrate it in ROVIOLI or as a sensor module? do you have...

inconsistent results in TUM benchmarks

5

Hi, We run rtabmap in RGBD mode in ROS environment. Even when we playback same clip on same strong PC - we get different results each execution. Difference might be...

probably wrong code is activated in localization mode causing to memory leak

1

rtabmap.cpp line 1754 the following code supposed to be activated in the mapping only but actually running also in localization mode and causing to memory leak over time: _constraints.insert(std::make_pair(tmp.from(), tmp));...