Loop Closure not detected

Posted by rishavgh on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Loop-Closure-not-detected-tp7109.html

Hello,

I am using RTABmap for visual odometry and mapping in a Gazebo world. The odometry is working well but the correct loop closure is not being detected.

In this database, the nodes with ID 1 and 1679 are quite similar and were close in the gazebo simulation but rtabmap did not detect a loop closure.

Here is the launch file. Please let me know what parameters need to be corrected. I have tried with RGBD/ProximityBySpace=true and RGBD/NeighborLinkRefining=true but it still did not detect a loop closure.