search loop

[fanhuigui]

Hello, thank you very much for your open source code. I studied it yesterday and found that it accumulates point searches every 500 frames, and every time it matches a point cloud, it matches ten frames. Isn't it supposed to match with the current frame point cloud? Why is the last ten frame point clouds used here? I don't understand. Thank you

[ChongjianYUAN]

Hello, thank you very much for your open source code. I studied it yesterday and found that it accumulates point searches every 500 frames, and every time it matches a point cloud, it matches ten frames. Isn't it supposed to match with the current frame point cloud? Why is the last ten frame point clouds used here? I don't understand. Thank you

In the current version, we accumulate 10 frames of point clouds as a key frame, which serves as the basis for all loop detection. By accumulating point clouds, we can obtain denser data, resulting in better detection performance. However, we are developing an improved version that supports the detection of both current normal frames and accumulated key frames, whereas the current version only supports key frames.

[fanhuigui]

Hello, thank you very much for your open source code. I studied it yesterday and found that it accumulates point searches every 500 frames, and every time it matches a point cloud, it matches ten frames. Isn't it supposed to match with the current frame point cloud? Why is the last ten frame point clouds used here? I don't understand. Thank you

In the current version, we accumulate 10 frames of point clouds as a key frame, which serves as the basis for all loop detection. By accumulating point clouds, we can obtain denser data, resulting in better detection performance. However, we are developing an improved version that supports the detection of both current normal frames and accumulated key frames, whereas the current version only supports key frames.

I learned that loop detection only started at frame 50. They all converted to the world coordinate system based on their posture, and then started matching. I have understood your meaning, and thank you very much. I am honored to learn your method.