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-tp10825p10905.html

How do you enable ICP refinement? Is that the same as node link refinement?

If "Reg/Strategy: 1", it is enabled for all loop closure and proximity detections. To further enable it for odometry constraints, you have to set "RGBD/NeighborLinkRefining: true".

"To continue mapping, the system doesn't need a loop closure, just a valid odometry." But how do you then merge the old map with the new map?

I was referring that "refinement" is not mandatory for mapping, as long as odometry is valid, it will accumulate new nodes even if refinement failed. To merge with old maps, a visual loop closure is indeed required.