matlabbe

I'm very open to integrate ORB_SLAM3 to rtabmap like I did with ORB_SLAM2. I just didn't take time yet to look at ORB_SLAM3 code (which is relatively new, sept 2020)....

You have a local opencv version and you use rgbd_odometry. There could be a compatibility issue with rtabmap_ros built with system OpenCV binaries (from cv_bridge) and OpenCV built from source...

Note also I updated the orbslam3 v0.4-beta patch for rtabmap integration here (this fixed a problem with RGB-D mode): https://gist.github.com/matlabbe/f5cb281304a1305b2824a6ce19792e13

The ORB_SLAM2 or ORB_SLAM3 integration in RTAB-Map is just for the visual odometry part (Front-End) of ORB_SLAM, the loop closure detection and global graph optimization is done by RTAB-Map. We...

No, I didn't compare it. I use [Feature2D](https://docs.opencv.org/4.5.0/d0/d13/classcv_1_1Feature2D.html) library from OpenCV to get keypoints from many of the detectors shown there. The Harris detector is found in an independent function...

If you traversed multiple times over the same path, rtabmap may localize on a frame from one path then on a frame on another path just the second after. If...

I tried with latest jetpack 4.6 on a nano 4GB and I have a different error. The docker is starting, but rtabmap has a seg fault on start. First, to...

In multi-session mapping, GTSAM fails sometimes to find a solution. I don't know exactly which contraints (which odometry links or loop closure links) in the graph are causing the problem....

The difference that I can see in the generated links between [3D to 3D] and [3D to 2D] is that the covariance values may be little different. Note however that...

Thx for sharing the database, I could use it to get deeper in the problem. When re-processing the database, the graph is correctly built as new data are added. The...