Relocalization on a loaded map
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Hi everyone,
I am doing some pre-flight checks with a Sentinel drone to check how the localization works in the voxl-mapper. I noticed that the drone is not able to relocalize itself within a loaded map that I did earlier. What I did is the following:
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I switched on the drone in a specific position and I moved it around to build a 3D map using the stereo input;
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When I was satisfied with the map I saved it and I switched off the drone;
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I moved the drone to another point and I switched it on;
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I loaded the 3D map that I made in the previous powercycle and I moved around the drone to see whether it was able to relocalize itself in the map or not.
Despite the map was updating while I was moving around, the drone was not relocalizing itself and it ended up creating a "false" map of the environment.
Hence my question: can the drone relocalize itself within a map without booting up at the exact same position in which the drone was switched on at the time of the creation of the map?
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Not at this time, no
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Ok, thank you very much for your response.
Is this feature under development?
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It is not at this point. You could get pretty far by incorporating April Tag Relocalization, docs here
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Ok, thanks! So is there no available vSLAM implementation at the moment?
