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Updated Robust Graph Optimization (markdown)

matlabbe
2015-09-04 12:37:26 -04:00
parent 09ab86e5fd
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Robust-Graph-Optimization.md
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* [Configuration](#configuration) * [Configuration](#configuration)
* [ROS](#ros) * [ROS](#ros)
* [Example](#example) * [Example](#example)
* [Without Vertigo](#without-vertigo)
* [Issues](#issues) * [Issues](#issues)
*** ***
## Introduction ## Introduction
@@ -54,4 +55,7 @@ You should then see mapping like the introduction video. **Note**: to actually s
An option can be also used with TORO (it works for the other algorithms too) to detect wrong loop closures and reject them. Under RGB-D SLAM panel in the Preferences dialog, there is this parameter (`RGBD/OptimizeMaxError`, default 1 m): An option can be also used with TORO (it works for the other algorithms too) to detect wrong loop closures and reject them. Under RGB-D SLAM panel in the Preferences dialog, there is this parameter (`RGBD/OptimizeMaxError`, default 1 m):
* "Reject loop closures if optimization error is greater than this value (0=disabled)." * "Reject loop closures if optimization error is greater than this value (0=disabled)."
When large graph optimization errors are detected after a loop closure, this means that the last loop closure is a wrong loop closure. RTAB-Map can detect this with this parameter and remove the link from the graph directly. When large graph optimization errors are detected after a loop closure, this means that the last loop closure is a wrong loop closure. RTAB-Map can detect this with this parameter and remove the link from the graph directly.
## Issues
* The example above doesn't work when link covariances are Identity. There are some [cases](https://www.tu-chemnitz.de/etit/proaut/mitarbeiter/rsrc/IROS12-switchableConstraints.pdf) where Vertigo cannot correctly remove **all** wrong loop closures. Even one left can cause large errors in the map. With the combinaison of the parameter explained in the section [Without Vertigo](#without-vertigo), there is less chance that wrong loop closures are accepted.