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PRBonn / semantic_suma

SuMa++: Efficient LiDAR-based Semantic SLAM (Chen et al IROS 2019)
MIT License
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Can not detect loop closure sometimes! #46

Closed lymdove closed 3 years ago

lymdove commented 3 years ago

My experiment on SuMa++ and KIITI always cannot detect loop closure at some place, i have tried many loop closure parameters, but i think my parameters have problems, could you tell me how to change the parameters to make it work??

Chen-Xieyuanli commented 3 years ago

Hey @lymdove, thanks for using our code. Yes, we use a geometric-based loop closing method in SuMa++. You may try to use some other methods to close loops. For example, our overlapnet, a deep learning-based approach.

lymdove commented 3 years ago

Thanks, I'll have a try. @Chen-Xieyuanli