Loop closure detection value

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Loop closure detection value

Steve Lee
Hello, I'm a beginner.
I have a few questions about loop closure detection.
I use RTAB-map with lidar sensor(L515)
I wonder what the standard value is when you judge loop close detection.
Can you tell me if rtab-map uses depth values, geomagnetic sensors, or simple images when loop-close detection is done?
Or is there a document related to it?
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Re: Loop closure detection value

matlabbe
Administrator
Hi,

You can look at this document: https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/7/7a/Labbe18JFR_preprint.pdf

Loop closure detection is done visually. There is proximity detection that can be done with only lidars. Both can be tuned or disabled with the right parameters.

Cheers,
Mathieu