Localization Mode

[vkm_81]

How does localization work in RTAB?
Which source file has implementation of localization in RTAB-Map?

Thanks a lot for your work

[matlabbe]

Localization is done exactly like loop closure detection. Hypotheses are estimated by the Bayes filter here: https://github.com/introlab/rtabmap/blob/f88ce1618b11ba466475d5cfe757e3d2a920ce1d/corelib/src/Rtabmap.cpp#L1688-L1690 and actual loop closure transformations are computed here: https://github.com/introlab/rtabmap/blob/master/corelib/src/Rtabmap.cpp#L2732-L2735

cheers,
Mathieu