Re: Global loop closure with lidar

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Global-loop-closure-with-lidar-tp10825p10852.html

Reg/Strategy=1 enables ICP registration between nodes of a visual loop closure. If nodes have laser scans, then we apply ICP registration to refine the loop closure transform. That parameter enables that part from section 3.4 of this paper:

When a laser scan or a point cloud is available, link’s transformation is refined using the same ICP Registration approach than with lidar odometry (described in Section 3.1.2).