Re: How does Rtabmap propagate the error back after detects loop closure

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-does-Rtabmap-propagate-the-error-back-after-detects-loop-closure-tp2593p2596.html

RTAB-Map uses TORO, g2o or GTSAM libraries to correct the graph after a loop closure. Here some links:
TORO: http://openslam.org/toro.html, paper: http://www2.informatik.uni-freiburg.de/~stachnis/pdf/grisetti09its.pdf
g2o: http://openslam.org/g2o.html, paper: http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle11icra.pdf
GTSAM: https://borg.cc.gatech.edu/projects/gtsam?destination=node%2F245

cheers