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Updated Robust Graph Optimization (markdown)

matlabbe
2015-09-04 12:39:44 -04:00
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Robust-Graph-Optimization.md
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@@ -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. 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 ## 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. * 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.