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How does gmapping detect loop closure?

asked 2014-12-18 15:06:10 -0600

infiniti gravatar image

I want to know the way to detect loop closure in gmapping package. I couldn't find loop closing method in gmapping papers.

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Its through the ICP (iterative closest point) scan matching technique. Read [here].(http://en.wikipedia.org/wiki/Iterative_closest_point)

AlexR gravatar imageAlexR ( 2014-12-18 18:21:32 -0600 )edit

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?

infiniti gravatar imageinfiniti ( 2014-12-19 03:24:18 -0600 )edit

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answered 2014-12-19 05:36:23 -0600

bvbdort gravatar image

updated 2014-12-19 05:36:46 -0600

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.

image description


Check rbpf slam tutorial . Pictures is from these slides.

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Asked: 2014-12-18 15:06:10 -0600

Seen: 2,553 times

Last updated: Dec 19 '14