Re: Mezzanine Mapping,Aisle get merged

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Mezzanine-Mapping-Aisle-get-merged-tp9134p9168.html

Hi,

you can decrease the local radius ("RGBD/LocalRadius") to 2 meters for example, to avoid loop closures with the other aisle.

For ICP, you could also decrease the correspondence distance "Icp/MaxCorrespondenceDistance" or increase "Icp/CorrespondenceRatio" to make sure you have a good overlap between scans to accept the loop closure.

cheers,
Mathieu