what is the relation between visual features "loop closure" and navigation using Kinect

Posted by m.omar82 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/what-is-the-relation-between-visual-features-loop-closure-and-navigation-using-Kinect-tp2512.html

Dear Mathieu
I develop Ensemble loop closure detection using multiple feature descriptor based on rtabmap and I like to test it with rtabmap navigation. When I tracing rtabmap I can't find the relation between the visual features and the odometry data from kinect.

My questions:
1. if we improve the loop closure detection this will improve the navigation with kinect or stereo?
2. How can I extract the trajectory to calculator absolute trajectory error (ATE)?
3. can I use console Application to create map with  kinect or stereo dataset?