How to add loop closure to your code？

hyye / lio-mapping

Implementation of Tightly Coupled 3D Lidar Inertial Odometry and Mapping (LIO-mapping)

https://sites.google.com/view/lio-mapping

GNU General Public License v3.0

898 stars 320 forks source link

How to add loop closure to your code？ #16

Open yangjiongfeng opened 5 years ago

yangjiongfeng commented 5 years ago

Hello Author， i can run your code use my laser and imu data，选区_031 I compare lio-mapping and VINS-mono， I found that lio-mapping has no loop closure， now，How do I add loop closure to lio-mapping.

hyye commented 4 years ago

You may refer to LeGO-LOAM to find some implementation of pose-graph-based loop closure.

yangjiongfeng commented 4 years ago

ok Thank you Do you plan to add loop closure next?

hyye commented 4 years ago

Currently, not our plan to release the loop closure module soon.