Re: RTAB-MAP with only 3D LIDAR and no loop closing

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-MAP-with-only-3D-LIDAR-and-no-loop-closing-tp8282p8362.html

Hi,

With lidar-only, the Bayes filter is not used (it is just for visual loop closure deteciton). There is no global LiDAR-based loop closure detection built-in in rtabmap, you may check this project: https://github.com/MarvinStuede/cmr_lidarloop

However, if odometry is not drifting too much, Proximity Detection could be triggered with only lidar. Do you have a database to share to see why procimity detections have not been detected?

cheers,
Mathieu