Re: Disable Loop Closure detection

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Disable-Loop-Closure-detection-tp6189p6230.html

Hi,

Yes, if rtabmap detects the loop closures, the gap will be filled by re-optimizing the map. The problem is that if loop closure detection / relocalization is done outside rtabmap, rtabmap cannot know how much movement is caused by odometry or relocalization, so no loop closure constraint can be added to graph to re-optimize it.

A workaround is to have odometry independent to global localization that we feed as usual to odometry input of rtabmap. On global localization with gps or VICON/Optitrack pose, we can connect them to /rtabmap/gps/fix or /rtabmap/global_pose inputs respectively. With Optimizer/PriorsIgnored=false, prior poses will be added to graph to optimize it.

cheers,
Mathieu