Localization Mode on iOS

Open laurojljunior opened this issue 9 months ago • 3 comments

Hey guys,

I couldn’t find anything related to this on the issues.. Is it possible to use the Localization mode on iOS? I so, any direction on how to implement that? I’m interested in global localization.

Thank you!

Mar 20 '25 03:03 laurojljunior

After assembling a mesh or point cloud, you will be in visualization mode. To jump into localization mode, click on View menu and select First-person view. iOS tracking will be restarted and rtabmap will be restarted in localization mode. Moving slightly around with a similar point of view that you did during mapping, it would eventually localize. See from 3:00 in this video https://www.youtube.com/watch?v=rVpIcrgD5c0

Mar 20 '25 04:03 matlabbe

Thank you @matlabbe for your quick response. I'm wondering what localization method are you using here. Do you have some paper about this approach? Thank you!

Mar 20 '25 11:03 LauroLdas

The localization is based on the visual loop closure detection approach described in https://arxiv.org/abs/2403.06341

Mar 23 '25 17:03 matlabbe