Global loop closure with lidar

Posted by dinossht on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Global-loop-closure-with-lidar-tp10825.html

Does RTAB-Map support loading a previously mapped database file and using LiDAR-only loop closure (e.g., by setting Reg/Strategy to LiDAR-based registration) to relocalize within the existing map and continue mapping from that point? This would be similar to using camera-based bag-of-words for relocalization in the old map to resume mapping.