Mezzanine Mapping,Aisle get merged

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Mezzanine Mapping,Aisle get merged

jeyakaranm
Hi ,

I am currently trying do rtabmap with wheel odometry in mezzanine area. The issue I face is during the loop closure the aisles get merged into one. Not sure which parameter need to be tuned. Kindly suggest me if there is any different approach I can use. Thanks in advance.

Before Loop ClousreAfter Loop Closure

 https://drive.google.com/file/d/1o45dMzPW-3mcjm3-p4PWhIOnxwHkQ68T/view?usp=sharing