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MOLAorg / mola

A Modular Optimization framework for Localization and mApping (MOLA)
https://docs.mola-slam.org/latest/
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About 3D LiDAR SLAM from KITTI dataset #34

Closed dibet closed 3 years ago

dibet commented 4 years ago

Hi, It is not an issue but I would like understand more about the code inside Mola, which is fantastic. In this sample 3D LiDAR SLAM from KITTI dataset. I would like to know if you are using landmarks in this sample for closure loop? Best regards Dibet

jlblancoc commented 3 years ago

Hi, thanks. Loop closure is solved using raw point clouds and simultaneously detected plane patches, via the mp2p_icp library.

dibet commented 3 years ago

then you use the planes as landmarks?

jlblancoc commented 3 years ago

I would say "no": there is not a MAP with landmarks. Planes are only used at present during keyframe-wise ICP alignment, but the "map" is just a pose graph as in most pose graph-based SLAM methods.

dibet commented 3 years ago

thanks by your comments