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vectr-ucla / direct_lidar_odometry

[IEEE RA-L & ICRA'22] A lightweight and computationally-efficient frontend LiDAR odometry solution with consistent and accurate localization.
MIT License
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Loop closure #41

Closed wienans closed 1 year ago

wienans commented 1 year ago

Hey this is more of a question than a issue. I wanted to ask if your system does any kind of Loop closure to make sure that for big maps where you revisit a certain location after a time the drift of the map is minimal.

As in the videos or GIFs we never see a "drifted" map which gets visually corrected, but all maps look very precise i was wondering if the algorithms drift is that small or if there is some loop closure happening.

Greetings and thanks for the great work Sven

kennyjchen commented 1 year ago

Hi @wienans -- DLO is purely an odometry algorithm and doesn't contain any explicit loop closures for retroactive map correction.

wienans commented 1 year ago

Okay thanks for info :)