Test on our experiment bag, it look like no loop closure

cogsys-tuebingen / cslibs_mapping

This library contains a plugin-based mapping framework which allows to build 2D gridmaps, 2D and 3D NDT maps and OctoMaps.

BSD 3-Clause "New" or "Revised" License

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Test on our experiment bag, it look like no loop closure #6

Open LiQiaopeng-1995 opened 4 years ago

LiQiaopeng-1995 commented 4 years ago

occ Showed in this png,the long corridor doesn't match well. How do I add loop closure detect into this package.

c-schulz commented 2 years ago

Hi @LiQiaopeng-1995, this package is about mapping only. It does not contain any global optimization. If you want to try SLAM with our maps, there are scan-to-map matching functions implemented in the cslibs_ndt package that you can use e.g. with the ceres optimizer.