Re: Reproducing Multi-session Deployment

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Reproducing-Multi-session-Deployment-tp578p2395.html

Hi,

The problem here is a mix of a wrong loop closure detected and g2o/GTSAM used. I updated demo_multi-session_mapping.launch file to use TORO by default (which is more stable for multi-session mapping) and slightly modified loop closure rejection threshold.

Here is what I have after running the 5 bags (with Download Graph -> Global map when finished):


Note there are missing loop closures in the center (where pink and red overlap) that were found in the paper. I didn't check all parameters, but overall it works.

cheers,
Mathieu