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PRBonn / semantic_suma

SuMa++: Efficient LiDAR-based Semantic SLAM (Chen et al IROS 2019)
MIT License
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Does loop use OverLapNet? #35

Closed hitbg-yjm closed 3 years ago

hitbg-yjm commented 3 years ago

Thanks for your great work. In PRBonn/OverlapNet , it point out that OverLapNet used in suma++, but I don't find OverLapNet using in SurfelMapping::checkLoopClosure(). It seems to loop according to residual.

Chen-Xieyuanli commented 3 years ago

Hey @hitbg-yjm,

Thanks for following our work!

To keep both repos standalone, we currently have no plan to release the joint part. SuMa++ therefore still uses the distance-based method for finding loops. But you could easily try to combine them by easily modifying the SurfelMapping::checkLoopClosure() to use the results from OverlapNet instead of distances.

I hope my answer helps!

hitbg-yjm commented 3 years ago

Thank you for your reply. It makes sense!