Re: Global relocalization with ICP SLAM?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Global-relocalization-with-ICP-SLAM-tp10595p10625.html


It should detect loop closures in mapping mode. Look for warnings/errors to know why a loop closure would be rejected. If there is no warning, what kind of trajectory are you doing? The STM needs to fill up before actual loop closures are detected, but that should only take 10 sec by default while you are walking/robot moving.