RTABMAP with ORB-SLAM on Windows

[Dorothyweiking]

How to run RTABMAP using ORB-SLAM odometery on Windows，this option is not currently available now.

[Dorothyweiking]

@matlabbe Can you give me some suggestions,thanks!

[matlabbe]

Is it possible to build ORB_SLAM2 on Windows? If yes, that would be a good start, then rtabmap would need to be rebuilt from source too.

[Dorothyweiking]

Ok, thank you, I will try it, now I use D435i, based on the f2m odometery to build maps, but the map sometimes has a large positioning drift, and some point clouds also be layered after loopback. Do you have any good suggestions on this problem? Is there a better choice of odometery, and whether the positioning of vio will be more accurate.

[matlabbe]

1. With D435i, I suggest to use IR-Depth mode if you don't use it like this already, not RGB-D mode.

2. Try closing loop closures more often

3. Avoid looking directly to a white wall