Re: Why I can't relacate in localization mode

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Why-I-can-t-relacate-in-localization-mode-tp535p541.html

Hello,

In Preferences dialog under RTAB-Map Settings panel, the parameter is called "T_loop : Loop closure threshold." In the settings file or in ROS, the parameter is "Rtabmap/LoopThr" (default 0.11).

Note that 0.11 is already quite the lower that you can set while avoiding most of the false positives. I rather recommend to see in the likelihood view if there are images that have a much higher score than the others. If no, maybe there are not enough hypotheses (not enough images in memory) to find an appropriate likelihood. Generally, having a minimum of 20 images/nodes in the graph is required.

cheers