rtabmap
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introlab
When my robot is stationary, the relocation will still fluctuate.
When my robot is stationary, the relocation will still fluctuate. What is the reason?
By the way, what's the difference between a Local Loop closure and a global loop closure?
It depends on your parameters. If you have enabled ProximityBySpace then very possible that rtabmap tries to find local matches if your robot is near to the keyframes.
You should read the paper first: https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/8/87/LabbeAURO2017.pdf
It is all written there
@stevemartinov thanks a lot By the way, how do you visually see which key points match when relocating? When I use the Rtabmap-DatabaseViewer, it seems to regenerate the key points rather than recording the key points at the time.
rtabmap-databaseViewer shows keypoints that were recorded during mapping. When the robot is standing still, if there are relocalizations happening, the robot may appear jumping at each update (/map -> /odom will be updated). If visual features are noisy or there are not a lot of visual inliers, the robot will jump more.
