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-tp10825p10871.html

ICP refinement will be used all the time if you enable it.

For odometry lost, it will recover only if you move back where it got lost, or if you use Odom/ResetCountdown != 0 to just reset odom after a couple of iterations.

To continue mapping, the system doesn't need a loop closure, just a valid odometry. An exception is on start, if Rtabmap/StartNewMapOnLoopClosure=true, a loop closure with a previous session in the database would be required to start a new mapping session (e.g., this is also called the "Append" mode in the mobile app).