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Submap for PGO? #6
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Hi, it is the submap form. If a loop closure is found, the registration result between their submap will be added to the pose graph. |
Thanks, great work~ |
Hi, @yanliang-wang There are still some questions that i want to ask you for help.
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Hi, @yanliang-wang I noticed you construct scancontext just using keframes instead of submap accumulated by kfs?
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Yes, this part is from FAST_LIO_SLAM. I didn't change it. But it doesn't matter if you only use the radius-based loop closure. |
You were saying you also use frames to detect loop but match submaps to close the loop instead? |
Yes, is there any problem? |
Of course no, I misunderstood. I thought you use submap for loop detection as well. Thanks~ |
Hi, @yanliang-wang
Did u use submap for loop closure or just single frame?
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