Re: Real-Time Multi Robot Map Combination

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Real-Time-Multi-Robot-Map-Combination-tp5992p7760.html

RTAB-Map uses a bag-of-words approach for loop closure detection. See this paper: https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/b/bc/TRO2013.pdf

Results will also vary depending on the visual feature used. That paper used SURF. More recently, I have done some comparisons between the features for localization, but for loop closure detection it also applies: https://github.com/introlab/rtabmap/tree/master/archive/2020-IlluminationInvariant

cheers,
Mathieu