Re: Localization Mode

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Localization-Mode-tp8357p8465.html


Localization is done exactly like loop closure detection. Hypotheses are estimated by the Bayes filter here: https://github.com/introlab/rtabmap/blob/f88ce1618b11ba466475d5cfe757e3d2a920ce1d/corelib/src/Rtabmap.cpp#L1688-L1690 and actual loop closure transformations are computed here: https://github.com/introlab/rtabmap/blob/master/corelib/src/Rtabmap.cpp#L2732-L2735

cheers,
Mathieu