i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-11 04:19:50 +08:00
Code Issues Packages Projects Releases Wiki Activity

Updated Robust Graph Optimization (markdown)

matlabbe
2015-09-04 09:55:32 -04:00
parent 37ca78c22c
commit 49ff71c39b
1 changed files with 1 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Robust-Graph-Optimization.md
+1
@@ -45,4 +45,5 @@ You should then see mapping like the introduction video. **Note**: to actually s
### Without Vertigo ### 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): 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)." * "Reject loop closures if optimization error is greater than this value (0=disabled)."
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. 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.