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How to detect loop closure after scan matching?

asked 2017-10-04 01:48:11 -0500

Raksha Murthy gravatar image

Hello, How to detect loop closures from the scan matched 2D data?


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answered 2017-10-05 05:22:09 -0500

This is a non-trivial problem, two approaches doing this are implemented in open_karto and cartographer. For the latter, you can read about the clever branch-and-bound approach used in this paper.

In gmapping, there is no explicit detection of loop closures, but map hypotheses with "badly" matched parts get a low weight and get sampled out.

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May i know how to solve using open_karto? Could you please elaborate the steps? What are the changes to be made in tha launch files to run my own datasets?

Raksha Murthy gravatar image Raksha Murthy  ( 2017-10-09 00:42:59 -0500 )edit

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Asked: 2017-10-04 01:48:11 -0500

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Last updated: Oct 05 '17