Solve the problems of map generation quality and odometry tracking in stereo rtabmap

[sun-under-bird]

I'm a beginner in slam technology. When I was using a dual-camera system for rtabmap, the mapping quality was very poor, and it would lose data if the speed was too fast. I think it might be a problem with the camera. Will purchasing a camera with a global shutter and hardware synchronization significantly improve the situation?

[matlabbe]

Will purchasing a camera with a global shutter and hardware synchronization significantly improve the situation?

yes

Also, the higher the field-of-view (FOV) is the better too. Commercial stereo cameras should also come pre-calibrated, and hopefully they did a good job doing the factory calibration.

[sun-under-bird]

Thank you very much. However, the binocular camera I bought was not calibrated at the factory. I need to calibrate it myself and then post the topic. How can I ensure the calibration accuracy? Can the calibration in ROS2 be used? Is the accuracy sufficient? Also, how large should the calibration board be? Can I print an A4 paper and then stick it on a wooden board? Is this sufficient for the accuracy? Or is there any other better method? Thank you for your answer

[matlabbe]

That is pretty much what I did in this example .

You could use ROS2 calibration node or our internal calibration tool as shown in the link above. Both tools use OpenCV under the hood to calibrate.

Note that if you have a large screen (tv or computer display), you can show a checkerboard / aruco board on it to calibrate your camera. If you are using a calibrator that is recording images as you move, avoid abrupt motions to avoid blurry images.

[sun-under-bird]

Thank you very much. This has been very helpful in addressing my questions. After I replaced my camera, the effect has improved significantly.