Poor Mapping Quality with ZED2i (4mm Lens) in zed_rtabmap_example

[Anchor1566]

Preliminary Checks

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Description

I'm currently using the zed_rtabmap_example package with a ZED2i camera (4mm lens) for 3D mapping, but I've encountered significant issues with the mapping quality. The generated map exhibits three main problems:
Severe ghosting artifacts: Overlapping or duplicated structures in the map.
Geometric distortion: Key features (e.g., walls, corners) appear warped instead of maintaining their actual shape.
Excessive outliers: Numerous spurious points that do not correspond to real-world objects, cluttering the map.

Could the poor texture of the environment be the primary cause of these mapping artifacts? The test scene has some low-texture areas (e.g., plain white walls), but I’m unsure if this alone would lead to such severe ghosting and outliers.

Is the geometric distortion likely caused by inaccurate odometry? I noticed the odometry topic used in the example is configured with default="zed_node/odom"—I need clarification on this:

Does zed_node/odom publish IMU-only odometry, visual odometry (VO), or a fused IMU+VO odometry?

If odometry inaccuracy is the root cause, are there recommended parameter tweaks (e.g., for sensor fusion, VO confidence thresholds) to improve it?

Any guidance, suggestions for parameter adjustments, or insights into potential causes would be greatly appreciated. Thank you!

ZED Camera model

ZED2i

Environment

ubuntu 20.04
ZED SDK 4.2.1

Anything else?

No response