ethz-asl/ros-mapping — Issue #5: Sudden jumps in position and rotation
Author: ddavies
Created: 2011-10-31 02:39:42+00:00
State: open

Hi,

I'm using a hand-held Kinect camera for our application. When I start modular_cloud_matcher and move the camera smoothly horizontally to the right, modular_cloud_matcher tracks smoothly, but every foot 20cm or so, it takes an arbitrary jump in position and/or rotation. After a few jumps, it may decide that the camera is some distance away from the true position (in an arbitrary direction) and the image might end up upside-down.

Do you have any suggestions for parameters or filters I should use to make the tracking less "twitchy?"

Thanks again.

Dan