Re: Adding more loop detection in post-processing

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Adding-more-loop-detection-in-post-processing-tp2643p2646.html

Hi,

Thx for sharing such a big database in an office environment. With the default parameters from RTAB-Map Tango 0.11.13, this environment is quite challenging because most of the images don't have much visual features (a lot of of solid color office's desks/walls with no discriminative features) and they are often blurry because of the rotation (which cause problem to get good local features). However, like what I've done in this post for a scan in a natural environment, here some parameters I changed to reprocess the database with more visual features for loop closure detection.

For the vocabulary, use 400 features instead of 200:


For loop closure transformation computation, activate re-extraction and use 1000 features to get more matches:



Result:


A comparison with and without loop closures:



When exporting mesh (Dense Flavor -> Gain Compensation + Poisson depth 9 + texture):



Hope this will help. With DatabaseViewer, we can also manually add loop closures if needed (Constraints View).

cheers,
Mathieu