- why do I need them?
- I have installed rtabmap-ros as ROS package. Have I already running g2o and GTSAM?
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When a loop closure or a proximity detection are detected or some nodes are retrieved or transferred because of memory management, a graph optimization approach is applied to minimize errors in the map. RTAB-Map integrates three graph optimization approaches: TORO [Grisetti et al., 2010], g2o [Kummerle et al.,2011] and GTSAM [Dellaert, 2012]. g2o and GTSAM converge faster than TORO, but are less robust to multi-session mapping when multiple independent graphes have to be merged together. TORO is also less sensitive to poorly estimated odometry covariance. However, for single map, based on empirical data, g2o and GTSAM optimization quality is better than TORO, particularly for 6DoF maps. GTSAM is slightly more robust to multi-session than g2o, and thus is the strategy now used by default in RTAB-Map contrarily to our previous works using TORO.
g2o may be already used if you installed rtabmap-ros from binaries (apt-get). To verify if g2o and GTSAM are supported in your current build, do:
$ rtabmap --version
Originally posted by matlabbe with karma: 6409 on 2020-02-03
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