Any suggested parameters of LinK3D and parameters of BoW3D for 16 - scans lidar?

[kokeliang]

Hello. Thank you for your hard work. I evaluated the BW3D with my 16 - scans lidar. But the loop detected result were bad. I thought parameters of LinK3D and parameters of BoW3D influence greatly the BoW3D algorithm. So could you have any suggestion to adapt those parameters for 16 scans lidar?

//Parameters of LinK3D
int nScans = 16; //Number of LiDAR scan lines
float scanPeriod = 0.1; 
float minimumRange = 0.1;
float distanceTh = 0.4;
int matchTh = 6;

//Parameters of BoW3D
float thr = 3.5;
int thf = 5;
int num_add_retrieve_features = 5;

[YungeCui]

Thank you for using BoW3D. I think you can reduce the parameter 'matchTh' , and set it as 3 or 4. In addition, you also should increase the 'num_add_retrieve_features', and you can try add all the extracted LinK3D features to the BoW3D.