RTAB-Map loop closure issue

[ammar.n.abbas]

during mapping, while driving forward and reverse to capture similar point of view, the loop closure point detection is crossing each other.

 

I have used an optical transform for all cameras

'''
<arg name="pi/2" value="1.5707963267948966" />
<node pkg="tf" type="static_transform_publisher" name="base_link" args="0 0 2 -$(arg pi/2) 0 -$(arg pi/2) ego_vehicle ego_vehicle/depth_front 0" />
'''

[matlabbe]

Do you mean the crossing blue lines on the left view between images of the loop closure? It means that many features have been wrongly matched between the frames. I would be more concerned on the warning messages on the terminal to know why the loop was rejected.

[ammar.n.abbas]

Yes, the blue lines. At some points, the loop hypothesis was accepted but still, the lines were not parallel and crossing each other.

[matlabbe]

In the main window, lines represent features with same word ID, not the actual inliers used for transformation estimation. So some lines can cross between features not representing the same real feature, but those between having same word (descriptor).

[ammar.n.abbas]

Oh okay, thank you so much...