Re: How to obtain more loop detection with only RGB images
Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-obtain-more-loop-detection-with-only-RGB-images-tp9322p9328.html
Hi,
Your dataset is too small (16 images) to correctly see loop closure hypotheses building up. It also switches between object-noobject-object-noobject. The loop closure hypothesis filter in RTAB-Map needs multiple consecutive images of a loop closure to build up the hypothesis. You can see that hypotheses stay pretty low (<0.10), which is mostly random at that point.
You can enable "VhEp/Enabled" parameter to at least reject loop closures without any feature matching :
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-obtain-more-loop-detection-with-only-RGB-images-tp9322p9328.html
Hi,
Your dataset is too small (16 images) to correctly see loop closure hypotheses building up. It also switches between object-noobject-object-noobject. The loop closure hypothesis filter in RTAB-Map needs multiple consecutive images of a loop closure to build up the hypothesis. You can see that hypotheses stay pretty low (<0.10), which is mostly random at that point.
You can enable "VhEp/Enabled" parameter to at least reject loop closures without any feature matching :
| Free forum by Nabble | Edit this page |