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Yes and No. You could disable Features by sending a blank depth image and enable GICP to estimate the motion, but GICP is not used for finding large loop closures, since the convergence of ICP does not necessary mean you are matching the same scene. This problem is of course less pronounced with the FOV of a LRF.

A good way to go would be to extract 3D features (NARF, Spin Images) and match these. But RGBDSLAM doesn't to this, so you would need to modify it on the source code level.