search

gisbi-kim / SC-LIO-SAM

LiDAR-inertial SLAM: Scan Context + LIO-SAM
652 stars 177 forks source link

Detect loop closure between two frames are not overlap #25

Open sonphambk opened 2 years ago

sonphambk commented 2 years 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 2 years 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 2 years 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？