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-tp2643p2704.html

Yes, the loop closure hypotheses need some consecutive images to increase enough to reach the loop closure threshold. In general, revisiting the same sequence of images is better to find loop closures. On the Debug overlay for the Tango App, you can see the current loop closure hypothesis value. When reaching the default threshold 0.11 (dark green background), a transformation is computed, then if accepted (e.g., enough correspondences), the loop closure is detected (light green background).

cheers,
Mathieu