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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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Accurate mapping in localization mode #48

Closed MigVega closed 1 month ago

MigVega commented 1 year ago

Dears, I did not find a localization mode in the documentation, but assuming there is one, is it possible to use it (with a reference map) and do online mapping (with loop closure and optimization) at the same time? I believe this would be the solution for long-term localization and mapping, since you may already have a reliable map. However, not always the whole multisession data. Thanks in advance.

jlblancoc commented 1 month ago

This would be feasible in theory, but complex in practice. It's not implemented at present in this framework.

There's a localization only mode, thought.