Re: loop-closures with memory management

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/loop-closures-with-memory-management-tp9898p9903.html

It is true, unless the first node "has been seen a longer time" than the others, which in this case a loop closure could be found with node #17 (and then neighbors of 1 brought back from LTM to WM). One should set Mem/RehearsalSimilarity appropriately to avoid pure FIFO effect.

There is no mechanism to bring back nodes based on proximity because we cannot estimate the distance of the current node to any nodes in LTM without a global optimized graph.