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?

[matlabbe]

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