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I was reading this guide: http://wiki.ros.org/rtabmap_ros/Tutor...
I am unsure whether rtabmap supports moving objects (for example, after generating a map, if a chair moves, or if the mapping captured a person who is moving, do these things throw off rtabmap's localization)?
Hi,
If the moved object has a lot of discriminative visual features and it takes a big part of the field of view, it may cause a wrong global localization when seen again in a different location. Example in this video: https://www.youtube.com/watch?v=A8v70... . The same problem can happen between locations looking very similar. As shown in the video, it is possible to detect such loop closure detection / localization failures with approaches keeping the map's graph consistent.
cheers
Asked: 2016-06-03 18:10:32 -0500
Seen: 361 times
Last updated: Jun 03 '16
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