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Updated Robust Graph Optimization (markdown)

matlabbe
2015-09-04 12:37:26 -04:00
parent 09ab86e5fd
commit b7e41fa1d0
1 changed files with 6 additions and 2 deletions
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Robust-Graph-Optimization.md
+4
@@ -2,6 +2,7 @@
* [Configuration](#configuration) * [Configuration](#configuration)
* [ROS](#ros) * [ROS](#ros)
* [Example](#example) * [Example](#example)
* [Without Vertigo](#without-vertigo)
* [Issues](#issues) * [Issues](#issues)
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@@ -55,3 +56,6 @@ An option can be also used with TORO (it works for the other algorithms too) to
* "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.
## Issues
* The example above doesn't work when link covariances are Identity. There are some [cases](https://www.tu-chemnitz.de/etit/proaut/mitarbeiter/rsrc/IROS12-switchableConstraints.pdf) where Vertigo cannot correctly remove **all** wrong loop closures. Even one left can cause large errors in the map. With the combinaison of the parameter explained in the section [Without Vertigo](#without-vertigo), there is less chance that wrong loop closures are accepted.