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gisbi-kim / SC-LIO-SAM

LiDAR-inertial SLAM: Scan Context + LIO-SAM
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Detect loop closure between two frames are not overlap #25

Open sonphambk opened 1 year ago

sonphambk commented 1 year ago

Thank for your great job. I have a question about detecting loop closure. Why this method detect the loop closure between two frames are not overlap image @gisbi-kim

pauldeee commented 1 year ago

+1 I too see this regularly. The map shows loops between frames that are impossible to loop with any sort of SC or ICP method. I've found lowering the loop threshold can help, but then it seems to ignore many other loops that might be useful.

sonphambk commented 1 year ago

@pauldeee Thanks for your comment. So I will try to decrease the loop threshold and check the result

yxxzhuzhuxia commented 1 year ago

RSLoopClosure or SCLoopClosure？