Rtabmap on Android devices

[Genozen]

Hello, I'm comparing the ios and android version of the Rtabmap and noticed something interesting on the android phones (Samsung galaxy cover6 pro):

Sometimes the pose jitters a lot. I've searched around the issues and forums but have not seen related mention about this.

Any idea as to why this happens?

[matlabbe]

Which version are you using? It looks like the pose is jumping between two referentials, there could be a bug. We do offset the origin of the received pose, maybe there is a offset missing sometimes. Let me know which APK you are using.

[Genozen]

@matlabbe I used the tutorial from here is: https://github.com/introlab/rtabmap/wiki/Installation#rtab-map-arcore-apk. Not sure which APK this would be, but I'm assuming it's the latest?

[matlabbe]

Reproduced with ARCore-Java driver by moving fast:

If we move slow it is fine:

There could be a bug on how arcore localizations are filtered, causing the back-and-forth jumps. In commit above, I disabled that filtering feature by default. On your version without reinstalling, you can change this setting under Mapping section below: