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

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/loop-closing-in-3DOF-while-using-D435i-and-2D-lidar-tp7711p7757.html

Yes, the occupancy grid is corrected after a loop closure. The loop closures are detected with the camera.

This paper does a summary of all parts of rtabmap. See figure 1.

cheers,
Mathieu