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princeton-vl / DROID-SLAM

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Loop Closure [Questions] #6

Open kbpachauri opened 3 years ago

kbpachauri commented 3 years ago

Hi,

Thanks for excellent work.

  1. In paper its mentioned "If the camera returns to a previously mapped region, we add long range connections in the graph to perform loop closure." Can you please tell me which portion of the code implement this?

  2. Is there a ablation studies which you folks did on improvement (drift reduction) with loop closure?

Best, KP

Sanyam-Mehta commented 1 year ago

Any updates on this? I haven't been able to find it either.

ThakurSarveshGit commented 1 month ago

Any updates on this? I haven't been able to find it either.

Loop closure happens in the back-end based on the reprojection error: https://github.com/princeton-vl/DROID-SLAM/issues/86#issuecomment-2270574977