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Hi,

For loop closure detection, see this paper. The code follows pretty much the algorithms shown.

For the 3D map, we simply assemble point clouds of each node in the graph, as described loosely in the paper your referred:

Fig. 9 shows the resulting global map by assembling the RGB-D point clouds from the Kinect using the optimized poses of the graph.

Search graph-based SLAM to learn more about the map structure used in RTAB-Map.

cheers

Hi,

For loop closure detection, see this paper. The code follows pretty much the algorithms shown.

For the 3D map, we simply assemble point clouds of each node in the graph, as described loosely in the paper your referred:

Fig. 9 shows the resulting global map by assembling the RGB-D point clouds from the Kinect using the optimized poses of the graph.

Search graph-based Graph-Based SLAM to learn more about the map structure used in RTAB-Map.

cheers