matlabbe
commented
5 years ago When lidar-only is used, global loop closure detection is disabled (since a camera is required for this). Proximity detection is still working, so some loop closures can be closed with only lidar. See Figure 5 in this paper to see how proximity detection works. For the processing time on KITTI dataset, look at the Table 3 in this paper, in particular S2S and S2M lines (which are lidar odometry).
In those results, I still used the stereo camera for global loop closure detections, while the motion estimation was done with only lidar. I don't have results without using the stereo camera. Note that some KITTI sequences don't have any loop closures, so results would be the same than without camera.
In Table 8, some results are shown with a 2D lidar instead.
cheers, Mathieu
Hi, After 0.19 version, the RTABMap can use lidar only. I am curious whether the real-time demand can be assured when I use 3D scan. Whether did you test it in KITTI datasets?
To my knowledge, If I use lidar only, the process that RTABMap does is equivalent to register scan to scan, and then to register scan to map for further refining the scan pose. Is it right?