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Merge branch 'master' of https://github.com/introlab/rtabmap.wiki

matlabbe
2015-09-04 09:26:46 -04:00
parent d8ab68a3b8 16e8cb062b
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Robust-Graph-Optimization.md
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@@ -6,8 +6,12 @@ Even if RTAB-Map has a [good](https://introlab.3it.usherbrooke.ca/mediawiki-intr
<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>
[1] Latif Y, Cadena C and Neira J (2013) Robust loop closing over time for pose graph slam. Int. J. of Robotics Research 32(14): 1611—1626.
[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:
@@ -20,13 +24,14 @@ If you are using ROS, you can set the parameters of the rtabmap node like that i
```
## Example
The video above can be reproduced with this database: stereo_robust_optimization.db (xx MB).
The video above can be reproduced with this database: [robust_graph_optimization_stereo.db](https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/Tutorials/RobustGraphOptimization/robust_graph_optimization_stereo.db) (32 MB).
1. Open RTAB-Map.
2. Open Preferences dialog.
3. Restore default settings (Preferences->General Settings->"Reset all settings").
4. Click on Source panel: set source from database, scroll down and select the database above and click on "Yes" to use odometry saved in database.
5. Click on Advanced (bottom left) to show up the RGB-D SLAM panel, then click on it. Set the panel as in the screenshot of the previous section (with g2o or GTSAM).
5. Click on RTAB-Map settings: set "Detection rate" to 0. The source database is already at 1 Hz, it is just to make sure that all images are processed.
5. Click on Advanced (bottom left) to show up the RGB-D SLAM panel, then click on it. Set the panel as in the screenshot of the previous section (with g2o or GTSAM).
6. Close the Preferences dialog.
7. Create a new database (File -> New database) and click "Start".