loop closing in 3DOF, while using D435i and 2D lidar

[yonim]

Dear sir,

We're using the  "2.3 Kinect + 2D laser" example with RTAB-Map's own icp_odometry node. We're working with  a 3DoF robot and only need a 2D occupancy grid map.

Can you please explain (or attach a link) as to how the loop closing is done? Is it done by the camera or ICP? If done by the camera,  is the occupancy grid map fixed after a loop closure?

We're using:

        <param name="Reg/Force3DoF"    value="true" />
        <param name="Optimizer/Slam2D" value="true" />

Thank you, Yoni

[yonim]

Dear sir,

We're using the  "2.3 Kinect + 2D laser" example with RTAB-Map's own icp_odometry node. We're working with  a 3DoF robot and only need a 2D occupancy grid map.

Can you please explain (or attach a link) as to how the loop closing is done? Is it done by the camera or ICP? If done by the camera,  is the occupancy grid map fixed after a loop closure?

Thank you, Yoni

[matlabbe]

Yes, the occupancy grid is corrected after a loop closure. The loop closures are detected with the camera.

This paper does a summary of all parts of rtabmap. See figure 1.

cheers,
Mathieu