How does gmapping detect loop closure?

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

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

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

bvbdort

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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.

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Check rbpf slam tutorial . Pictures is from these slides.

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

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Last updated: Dec 19 '14

How does gmapping detect loop closure? edit