Loop closure without depth information

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Loop closure without depth information

Hi Mathieu,

Is it possible to obtain loop closure using purely RGB inputs?

I am currently localizing my robot via lidar pointcloud. I have tried setting both the 'subscribe_depth' and 'subscribe_rgbd' params to false. While it seemed like rtabmap will still work, no loop closures could be detected. All old images stored in memories seem to have 0 features, as seen below.

Warm Regards,