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How can I perform loop closure in graph SLAM ?

asked 2017-04-18 17:54:24 -0500

ZainMehdi gravatar image

Hi, I am trying to implement graph based SLAM and I am using g2o for backend. So far I have

  1. Constructed a graph using laser data i.e pose-pose graph
  2. I dont have any odometry source so I used Scan_matcher to estimate pose constraints

Now I dont understand how to add and loop closures in my graph. I read some papers but the implementation details are naive to me. I would be thankful if someone could point me in the right direction Thanks

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answered 2017-08-14 18:59:45 -0500

Saurav Agarwal gravatar image

updated 2017-08-14 19:00:57 -0500

You can use slam_karto_g2o. It uses open_karto for the front-end and g2o for the backend. Other options are slam_karto and nav2d, both of which use sparse_bundle_adjustment for the backend.

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answered 2017-08-15 03:52:53 -0500

If you're after a well working graph SLAM solution (without requiring specifically the use of g2o), cartographer and it's ROS integration cartographer_ros is the obvious approach to try. It's 2D and 3D capable, provides good performance and has very responsive support.

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I will give it a try. Thnx :)

ZainMehdi gravatar image ZainMehdi  ( 2017-08-15 22:03:57 -0500 )edit

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Asked: 2017-04-18 17:54:24 -0500

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Last updated: Aug 15 '17