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MISTLab / Intensity_based_LiDAR_SLAM

Real-Time Simultaneous Localization and Mapping with LiDAR intensity
MIT License
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loop_closure_handler.cpp line 144 #2

Closed gzyabc closed 10 months ago

gzyabc commented 10 months ago

Thank you for your excellent work. I have some questions about the code. The min index here is less than 6, which I don't quite understand. Is it required to return to the starting position of the robot before the loop detection is calculated? Doesn't it count when I run into a loopback check in the middle? ROS_INFO("find loop: %i", min_index); if(min_index < 6){ return min_index; }

SnowCarter commented 10 months ago

Thanks for pointing this problem. This was a test which I forgot to delete. It should be disabled. In our algorithm, we provided three different methods (ScanContext, ORB, KDTree) for loop detection. You are welcome to try other two methods to find a better one.

gzyabc commented 10 months ago

Thanks for pointing this problem. This was a test which I forgot to delete. It should be disabled. In our algorithm, we provided three different methods (ScanContext, ORB, KDTree) for loop detection. You are welcome to try other two methods to find a better one.

Understand. Thank you again for your excellent work

SnowCarter commented 10 months ago

Thank you! I appreciate your kind words. If you have any more questions, feel free to ask.