How does gmapping detect loop closure?
I want to know the way to detect loop closure in gmapping package. I couldn't find loop closing method in gmapping papers.
gmappinp Parameter resampleThreshold handles this.
~resampleThreshold (float, default: 0.5) The Neff based resampling threshold
Neff drops in case of loop closures.
gmapping does resampling based on Neff threshold in case of loop closure.
Check rbpf slam tutorial . Pictures is from these slides.
Asked: 2014-12-18 15:06:10 -0600
Seen: 3,549 times
Last updated: Dec 19 '14
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Its through the ICP (iterative closest point) scan matching technique. Read [here].(http://en.wikipedia.org/wiki/Iterative_closest_point)
Thank you for your reply. If loop closure is found, will all historical pose be recalculated? I want to get recalculated pose data. Is there a good method to do that?
Hey! did you end up with loop closures? I can't activate it. set resampleThreshold equal to 1, all the same the new map is superimposed on the old one