Re: How to obtain more loop detection with only RGB images

Posted by climbing robot developer on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-obtain-more-loop-detection-with-only-RGB-images-tp9322p9332.html

Thank you for your polite reply.

I have been applying your loop detection system to my collaborative visual slam system. Therefore, My dataset switches between object(image from RobotA)-noobject(image from RobotB)-object(image from RobotA)-noobject(image from RobotB). Thanks to your comments in terms of the loop closure hypothesis filter, I understand that my implementation does not maximize the use of your loop detection.

However, when VhEp/Enabled is set to true, false positive loops are not detected completely in the datasets attached to previous my post. In addition, more loops are detected by setting VhEp/Enabled to true. Thank you, your loop detection system seems to be used for my collaborative visual slam.