When I use the Monocular SLAM in datasets , I can not find any loop closure occurs. When I print the nmatches, I found it's lower than 20. But when I use the ORB_SLAM2, it can get some frames upper than 20. It can find the loop closure and then global BA.
What should I do to slove this problem. Thanks a lot.
First thanks for your best work.
When I use the Monocular SLAM in datasets , I can not find any loop closure occurs. When I print the nmatches, I found it's lower than 20. But when I use the ORB_SLAM2, it can get some frames upper than 20. It can find the loop closure and then global BA.
What should I do to slove this problem. Thanks a lot.