Re: Global relocalization with ICP SLAM?

Posted by dinossht on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Global-relocalization-with-ICP-SLAM-tp10595p10610.html

I figured that localization works, when I call the service trigger new map twice. First time, the loop hypothesis rejected, and the second time, it works. Do you why?

Unlike egne odometry, where localization works by default, using icp odometry with reg/strategy set to 2 for slam, the registration does not work at all. I need to call the trigger new map service two times in the beginning, then the system is able to do loop closure.