i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-12 21:09:50 +08:00
Code Issues Packages Projects Releases Wiki Activity

Updated Robust Graph Optimization (markdown)

matlabbe
2015-09-04 09:11:14 -04:00
parent 0f5b16c85c
commit 651bc7ab86
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Robust-Graph-Optimization.md
+1 -1
@@ -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. [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 ## 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> <screenshot>
### ROS ### ROS
If you are using ROS, you can set the parameters of the rtabmap node like that in a launch file: If you are using ROS, you can set the parameters of the rtabmap node like that in a launch file: