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-tp10595p10623.html

Sorry for my confusing working here, I notice that the camera does not perform loop closure in mapping mode. For some reason, I need to trigger new map, and when I do in the beginning, the first loop closure is rejected. Then I do this again, which leads to loop hypothesis being accepted, and from there, the camera is able to perform local loop detection etc. If I skip the trigger new map service calls, the camera does nothing during online SLAM. Is this correct and expected behaviour?