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Test on our experiment bag, it look like no loop closure #6

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LiQiaopeng-1995 opened this issue Dec 10, 2020 · 1 comment
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@LiQiaopeng-1995
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occ
Showed in this png,the long corridor doesn't match well.
How do I add loop closure detect into this package.

@c-schulz
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Hi @LiQiaopeng-1995,
this package is about mapping only. It does not contain any global optimization. If you want to try SLAM with our maps, there are scan-to-map matching functions implemented in the cslibs_ndt package that you can use e.g. with the ceres optimizer.

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