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.
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I tried using a Neff value of 0.8 and it seemed to make things better in terms of updating the map. According to the slides: "We only resample when Neff drops below a given threshold (N/2)" So setting resampleThreshold to 0.8 instead of 0.5 means resampling is done when fewer particles are needed to reach the sampling threshold.
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
@infiniti@AlexR@Kislyy_homyak I am unable to get proper loop closure in gmapping slam, I set the resample Threshold equal to 0.8, were you able to solve this?