Re: Improve rtabmap SLAM performance by enabling SURF feature

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Improve-rtabmap-SLAM-performance-by-enabling-SURF-feature-tp3068p3079.html

Hi Simon,

Features shown in loop closure detection view are those used for loop closure detection. They are independent of those used by visual odometry (which are GFTT/BRIEF by default). If SURF is not available, ORB features are used for loop closure detection. If built with SURF (xfeatures2d module of OpenCV3), SURF will be used by default for loop closure detection.

cheers,
Mathieu