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-tp9322p9346.html
Not sure if it is possible to completely disable the hypothesis filter. You can set "Rtabmap/LoopThr" to 0.01 to trigger a loop closure with highest hypothesis (even if very low / noise). To remove the "inertia" from the filter, you may set "Bayes/PredictionLC" to 0.9 instead of this curve.
Well, "Bayes/PredictionLC" and "Bayes/VirtualPlacePriorThr" should sum to 1, so you could try different ratios.
To use likelihood directly, you will have to modify the code to bypass the filter and just take the image with highest likelihood directly.
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-obtain-more-loop-detection-with-only-RGB-images-tp9322p9346.html
Not sure if it is possible to completely disable the hypothesis filter. You can set "Rtabmap/LoopThr" to 0.01 to trigger a loop closure with highest hypothesis (even if very low / noise). To remove the "inertia" from the filter, you may set "Bayes/PredictionLC" to 0.9 instead of this curve.
Well, "Bayes/PredictionLC" and "Bayes/VirtualPlacePriorThr" should sum to 1, so you could try different ratios.
To use likelihood directly, you will have to modify the code to bypass the filter and just take the image with highest likelihood directly.
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