Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

How to detect loop closure after scan matching?

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

Raksha Murthy
11 ●2 ●3 ●4

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

Thanks

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

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

Stefan Kohlbrecher

24361 ●173 ●299 ●444 https://www.energy-rob...

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.

edit flag offensive delete link

Comments

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 ( 2017-10-09 00:42:59 -0500 )edit

add a comment

Question Tools

1 follower

Stats

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

Seen: 489 times

Last updated: Oct 05 '17

How to detect loop closure after scan matching? edit

1 Answer

Comments

Question Tools

Stats

Related questions

How to detect loop closure after scan matching?