Re: RTAB-map only for mapping

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-map-only-for-mapping-tp1896p2675.html

Hi,

I will quote this paper (section II):

There are two types of links: neighbor and loop closure. Neighbor links are added between the current and the previous nodes with their odometry transformation. Loop closure links are added when a loop closure detection is found between the current node and one from the same or previous maps.

Loop closures are computed using visual transform, and then refined by ICP if configured to do so. The final trajectory is this graph optimized using g2o, GTSAM or TORO.

cheers,
Mathieu