Re: closed loop detection

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/closed-loop-detection-tp1506p1510.html

Yes, and there is a memory management mechanism that limits the time used for dictionary update and loop closure estimation to a fixed time threshold. See the papers for more info.

I don't know about how choosing k for kmean++.

cheers,
Mathieu