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Updated Robust Graph Optimization (markdown)

matlabbe
2015-09-04 09:11:14 -04:00
parent 0f5b16c85c
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Robust-Graph-Optimization.md
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@@ -11,7 +11,7 @@ Even if RTAB-Map has a [good](https://introlab.3it.usherbrooke.ca/mediawiki-intr
[2] Sunderhauf N and Protzel P (2012) Towards a robust back-end for pose graph SLAM. In: Proc. IEEE Int. Conf. on Robotics and Automation. pp. 1254–1261.
## Configuration
In the Preferences dialog under RGBD-SLAM panel and "Graph optimization" group, choose either g2o or GTSAM for the optimization algorithm, then click on "Robust graph optimization with Vertigo..." (default already checked):
In the Preferences dialog under RGBD-SLAM panel and "Graph optimization" group, choose either g2o or GTSAM for the optimization algorithm, then click on "Robust graph optimization using Vertigo..." (default already checked):
<screenshot>
### ROS
If you are using ROS, you can set the parameters of the rtabmap node like that in a launch file: