loop-closures with memory management

Posted by akunin on
URL: http://official-rtab-map-forum.206.s1.nabble.com/loop-closures-with-memory-management-tp9898.html

Hi,
As far as i understood WM/LTM works ~FIFO+cache when old nodes removed to LTM and new nodes/most visited are kept in WM.
Lets assume WM is only 10 nodes, we have a long aisle at warehouse and returning for the first time to same node #1 from a different direction/node# 17. In case node #1 already moved to LTM ..there is no chance to have a loop-closure with it since it and its neighbors are in LTM.
Is there any mechanism to retrieve all nodes from LTM to WM in the region near the current location to get loop-closure?

LTM.png