From f13fea8c16dd04f1304eed654228d3ea89ae57bc Mon Sep 17 00:00:00 2001 From: matlabbe Date: Fri, 4 Sep 2015 12:39:44 -0400 Subject: [PATCH] Updated Robust Graph Optimization (markdown) --- Robust-Graph-Optimization.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Robust-Graph-Optimization.md b/Robust-Graph-Optimization.md index 772de3f..7ed2a8c 100644 --- a/Robust-Graph-Optimization.md +++ b/Robust-Graph-Optimization.md @@ -58,4 +58,4 @@ An option can be also used with TORO (it works for the other algorithms too) to 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 above example doesn't work when link's 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), this can give less chance of wrong loop closures accepted. \ No newline at end of file + * The above example doesn't work when link's 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), this can give less chance of accepting a wrong loop closure. \ No newline at end of file