What is the solution for rough (non-smooth) floor conditions?
The vSLAM algorithm fuses information from two sensors: an odometer and a camera. Poor data from one of these sensors may be compensated by good data from the other sensor. In other words, if the floor is rough, the odometer data is expected to be poor (unreliable); however, if the environment contains a lot of texture, the camera will provide excellent visual data resulting in a good vSLAM performance. On the other hand, if the environment is texture-less, then the data from the camera will be poor (few visual measurements will be computed). If now the odometer data is good thanks to a smooth floor, the vSLAM performance will still be good.
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