Localization Jump To Random Point When Exiting Elevator

[brayanpa]

Description:

Hi Mathieu,

I’m encountering an issue where the robot’s localization jumps to an unexpected point when exiting an elevator. Let me provide more details about the scenario:

Setup and Behavior:

Our robot navigates across multiple floors, switching maps when entering an elevator. The map-switching process is quick (a few seconds) as we use LiDAR-only maps. After entering the elevator, we publish on the /initialpose topic to update RTAB-Map's localization. At this stage, everything works as expected.

However, upon exiting the elevator, the localization jumps to what seems to be a random point. I suspect this point corresponds to the last saved position in the database.

Key Observations:

• The jump does not depend on time. For example, leaving the robot inside the elevator for several minutes still results in the localization jump immediately upon exiting.

• Logs repeatedly show the following message before the jump occurs:

RegistrationIcp.cpp:908::computeTransformationImpl() Transform is found (xyz=0.023405,0.240272,0.000000 rpy=0.000000,-0.000000,0.241568) but no correspondences has been found!? Variance is unknown  
(2025-01-10 22:45:52.253) Rtabmap.cpp:1321::process() Update map correction based on last localization saved in database! correction = xyz=-87.723305,-22.524700,0.000000 rpy=0.000000,-0.000000,1.795553, nearest id = 40 of last pose = xyz=2.190000,-5.140000,0.000000 rpy=0.000000,-0.000000,1.570000, odom = xyz=-3.091488,-91.526352,0.000000 rpy=0.000000,0.000000,-0.225553

• Inside the elevator, the robot’s LiDARs detect only a few points. The jump happens when it exits and starts seeing a significant amount of new points.
• The elevator is not mapped; it is within the map’s boundaries but marked as an unknown area.

Additional Notes:
This issue happens consistently with certain maps.
MapsWJumps.zip

It does not occur with other maps.
noJumps.zip

Thank you for your support! Let me know if you need additional logs, configuration files, or database files.