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-tp2643p2698.html

Hi,

Not sure if manually changing poses in the graph would be easier. I think the best is still to make sure to scan again the same discriminative locations with valid depth values (e.g., billboard on the wall, similar to what I did in this video at 1:57) regularly during mapping to find loop closures, thus correcting the drift. If loop closures on these locations are still not found online, they could be easily added manually with the database viewer afterward (if we can extract a lot of discriminative visual features with valid depth).

cheers,
Mathieu