rtabmap outdoor
When running rtabmap in localization mode (using a map that was made e.g. a few hours before) we're having problems finding loop closures.
I can see that many of the extracted keypoints are features of shadows, and because the sun moves, or it gets clouded temporarily, the loop closures don't happen anymore.
The problem is a lot less when it's clouded.
Is there any way to tune the key point extractor to ignore shadows? Or any other parameters that are useful in these situations?