loop closing in 3DOF, while using D435i and 2D lidar

Posted by yonim on
URL: http://official-rtab-map-forum.206.s1.nabble.com/loop-closing-in-3DOF-while-using-D435i-and-2D-lidar-tp7711.html

Dear sir,

We're using the  "2.3 Kinect + 2D laser" example with RTAB-Map's own icp_odometry node. We're working with  a 3DoF robot and only need a 2D occupancy grid map.

Can you please explain (or attach a link) as to how the loop closing is done? Is it done by the camera or ICP? If done by the camera,  is the occupancy grid map fixed after a loop closure?

We're using:

        <param name="Reg/Force3DoF"    value="true" />
        <param name="Optimizer/Slam2D" value="true" />

Thank you, Yoni