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Is using visual feature-based approaches?

Open kento77 opened this issue 2 years ago • 3 comments

Sorry for my poor English.

I'm trying to understand how RTABMap works, but could you please help me with the following questions?

1.I am using depth camera realsense455. In this case, is the default setting of RTABMap using a method that uses reprojection error of visual feature-based approaches? 2. If so, is only 3D pose to be optimized? Or is the 3D point cloud of landmarks optimized in addition to 3D pose?

kento77 avatar Dec 24 '23 03:12 kento77

  1. Yes, default parameters should be fine, unless resolution is higher than 720p (parameters are tuned for 480p).
  2. In visual odometry, both pose and 3D features are optimized.

matlabbe avatar Dec 24 '23 04:12 matlabbe

Thanks for the reply. Is there a paper or something that has the formulas for pose and 3D features optimized.

kento77 avatar Dec 24 '23 05:12 kento77

This will give you the overview of the approach https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/7/7a/Labbe18JFR_preprint.pdf

matlabbe avatar Dec 24 '23 15:12 matlabbe