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Updated Robust Graph Optimization (markdown)

matlabbe
2015-09-04 08:35:24 -04:00
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Robust-Graph-Optimization.md
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Even if RTAB-Map has a [good](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/b/bc/TRO2013.pdf) Recall/Precision performance for loop closure detection, it is not perfect! It may happens that some objects very similar (even identical) in different locations could cause wrong loop closure detections. Optimizing the graph with these wrong loop closures will add significant errors to the generated map. Hopefully, some approaches [1, 2] can deal with a lot of wrong loop closures. [Vertigo](https://openslam.org/vertigo.html) has been integrated in RTAB-Map to increase robustness to graph optimization. To use it, you must have RTAB-Map built with [g2o](https://openslam.org/g2o.html) or [GTSAM](https://collab.cc.gatech.edu/borg/gtsam) support (you can see that in the About dialog or with "WITH_G2O=YES" and "WITH_GTSAM=YES" on cmake). The next video shows a comparison without and with robust graph optimization.
<a href="http://www.youtube.com/watch?v=A8v70DZxLF8" target="_blank"><img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/video_screenshots/robust_graph_optimization.jpg"
alt="video" title="video"/></a>
## 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):