UZ-SLAMLab
LoopClosing not working?
Hi, I'm trying to run the Examples to duplicate the results seen in the ORB_SLAM3 YouTube channel. I'm running on an x86_64 Ubuntu 22.04 machine, and all of my libraries are up to date. I'm trying to run the TUM Outdoor8 sequence and in my run, the path fails to fix itself when the camera returns to the lab room at the end of the sequence. For reference, on the YouTube video, the loop closure happens here: https://youtu.be/J8CNoSmGQDM?t=323
On my machine, the loop never closes and maintains a similar drift as shown in the video right before the closure. I've seen and fixed various bugs mentioned in the code, such as unsigned in mnFullBAIdx. I've even added loopClosure: 1 to the YAML file, but so far it doesn't seem to work. Anyone else having problems with this?
Thanks in advance, Jim
I am noticing a similar issue on other datasets. It doesn't close any loops.
A few times. But, I think that the way that the authors made the system close the loop is to combine multiple passes through the same area from different directions in order to cause the system to recognize when it was back "home". For example, if you take just one particular video, it comes back to the "home" room, but the cameras are pointed in the opposite direction from when the video starts.
On Tue, Aug 6, 2024 at 8:09 PM Arjun S Kumar @.***> wrote:
@jyl087 https://github.com/jyl087 how many times you repeated the experiment?
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