Re: loop closure rejected: not enough feature in images (old=0, new=179, min=20)

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/loop-closure-rejected-not-enough-feature-in-images-old-0-new-179-min-20-tp10778p10789.html


See answer on same issue on github: https://github.com/introlab/rtabmap_ros/issues/1259

When setting RGBD/Enabled to false, rtabmap will only "localize" in term of images, no metric poses will be computed/updated. That is a mode most people will never use, unless you are evaluating only the appearance-based loop closure detection approach of rtabmap.

bobi wrote

Second thing: If I’m in localization mode and detect loop closures, will my drone re-localize itself using those loop closures, even if it doesn’t know its position in the mapped room?

Yes, it will then know its position in the room after re-localizing in it.