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Updated Robust Graph Optimization (markdown)

matlabbe
2015-09-04 09:55:02 -04:00
parent 4e2ffd54e9
commit 37ca78c22c
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Robust-Graph-Optimization.md
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@@ -45,5 +45,4 @@ You should then see mapping like the introduction video. **Note**: to actually s
### Without Vertigo
An option can be also used with TORO (it works for the other algorithms too) to detect wrong loop closures and reject them. Under RGB-D SLAM panel in the Preferences dialog, there is this parameter (`RGBD/OptimizeMaxError`, default 1 m):
* "Reject loop closures if optimization error is greater than this value (0=disabled)."
<screenshot>
When large graph optimization errors are detected after a loop closure, this means that the last loop closure is a wrong loop closure. RTAB-Map can detect this with this parameter and remove the link from the graph directly.