From 046438dd5c7f251f62c0a4c1e2e76d0049a9c28f Mon Sep 17 00:00:00 2001 From: matlabbe Date: Fri, 4 Sep 2015 08:49:23 -0400 Subject: [PATCH 1/7] Updated Robust Graph Optimization (markdown) --- Robust-Graph-Optimization.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Robust-Graph-Optimization.md b/Robust-Graph-Optimization.md index 2cab26e..ba0dca9 100644 --- a/Robust-Graph-Optimization.md +++ b/Robust-Graph-Optimization.md @@ -20,7 +20,7 @@ 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: [stereo_robust_optimization.db](https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/Tutorials/RobustGraphOptimization/stereo_robust_optimization.db) (33 MB). 1. Open RTAB-Map. 2. Open Preferences dialog. From 0260d84c1e8ffc017adcc2dd796262faf36fc079 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Fri, 4 Sep 2015 08:50:48 -0400 Subject: [PATCH 2/7] Updated Robust Graph Optimization (markdown) --- Robust-Graph-Optimization.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Robust-Graph-Optimization.md b/Robust-Graph-Optimization.md index ba0dca9..e5a29d7 100644 --- a/Robust-Graph-Optimization.md +++ b/Robust-Graph-Optimization.md @@ -20,7 +20,7 @@ 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](https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/Tutorials/RobustGraphOptimization/stereo_robust_optimization.db) (33 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) (33 MB). 1. Open RTAB-Map. 2. Open Preferences dialog. From 9fc6a31afb130e6283aaabd43b662619b6a356c6 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Fri, 4 Sep 2015 08:51:15 -0400 Subject: [PATCH 3/7] Updated Robust Graph Optimization (markdown) --- Robust-Graph-Optimization.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Robust-Graph-Optimization.md b/Robust-Graph-Optimization.md index e5a29d7..af8184f 100644 --- a/Robust-Graph-Optimization.md +++ b/Robust-Graph-Optimization.md @@ -20,7 +20,7 @@ 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: [robust_graph_optimization_stereo.db](https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/Tutorials/RobustGraphOptimization/robust_graph_optimization_stereo.db) (33 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. From c8fb1df248463fd6ae23405bfcdd489430a4a473 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Fri, 4 Sep 2015 09:10:31 -0400 Subject: [PATCH 4/7] Updated Robust Graph Optimization (markdown) --- Robust-Graph-Optimization.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/Robust-Graph-Optimization.md b/Robust-Graph-Optimization.md index af8184f..8111bfe 100644 --- a/Robust-Graph-Optimization.md +++ b/Robust-Graph-Optimization.md @@ -6,6 +6,9 @@ Even if RTAB-Map has a [good](https://introlab.3it.usherbrooke.ca/mediawiki-intr video +[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): From 0f5b16c85c6b7a4ec25c643ddb0e966727ddcf2d Mon Sep 17 00:00:00 2001 From: matlabbe Date: Fri, 4 Sep 2015 09:10:42 -0400 Subject: [PATCH 5/7] Updated Robust Graph Optimization (markdown) --- Robust-Graph-Optimization.md | 1 + 1 file changed, 1 insertion(+) diff --git a/Robust-Graph-Optimization.md b/Robust-Graph-Optimization.md index 8111bfe..608bf31 100644 --- a/Robust-Graph-Optimization.md +++ b/Robust-Graph-Optimization.md @@ -7,6 +7,7 @@ Even if RTAB-Map has a [good](https://introlab.3it.usherbrooke.ca/mediawiki-intr alt="video" title="video"/> [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 From 651bc7ab8676ec97938947165152de3def5ab73e Mon Sep 17 00:00:00 2001 From: matlabbe Date: Fri, 4 Sep 2015 09:11:14 -0400 Subject: [PATCH 6/7] Updated Robust Graph Optimization (markdown) --- Robust-Graph-Optimization.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Robust-Graph-Optimization.md b/Robust-Graph-Optimization.md index 608bf31..d13978b 100644 --- a/Robust-Graph-Optimization.md +++ b/Robust-Graph-Optimization.md @@ -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): ### ROS If you are using ROS, you can set the parameters of the rtabmap node like that in a launch file: From 16e8cb062b142aadc9007d37a954c01528ad5d16 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Fri, 4 Sep 2015 09:14:35 -0400 Subject: [PATCH 7/7] Updated Robust Graph Optimization (markdown) --- Robust-Graph-Optimization.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/Robust-Graph-Optimization.md b/Robust-Graph-Optimization.md index d13978b..8c4553f 100644 --- a/Robust-Graph-Optimization.md +++ b/Robust-Graph-Optimization.md @@ -30,7 +30,8 @@ The video above can be reproduced with this database: [robust_graph_optimization 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".