Re: Loop closure registration strategies - Help

Posted by DavideR on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Loop-closure-registration-strategies-Help-tp6421p6459.html

Hi,
Thank You for your support!
Regarding the first question about registration strategies I then still have some doubts after your reply.

I found out that using registration strategy 1 (Geometry ICP) during localization, a greater number of loop closure detections are finally accepted with respect to the case I use registration strategy 0 (Visual).

If a first Visual registration is necessary for both strategies, why more loop closure are accepted using a refinement?

Moreover, what the third strategy (Visual+Geometry) actually means?

Could you point me out briefly the main differences between all the trhee approaches to compute a loop closure transform please?


Thank you really a lot for your support,
cheers

Davide