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laboshinl / loam_velodyne

Laser Odometry and Mapping (Loam) is a realtime method for state estimation and mapping using a 3D lidar.
http://wiki.ros.org/loam_velodyne
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Loop Closure #17

Open athtest800 opened 7 years ago

athtest800 commented 7 years ago

Hello! What is the process of loop closure the point cloud? Do you use external loop closure technique? The result has small drift from start to end. Thank you.

vkee commented 7 years ago

LOAM does not perform loop closures as stated in the paper (http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.448.434&rep=rep1&type=pdf), "Since our method is intended to push issues related to minimizing drift in odometry estimation, it currently does not involve loop closure."

xiaozhuka commented 7 years ago

without loop closure my result is so bad 2017-09-22 14 39 48