Abnormal behaviour at loop closure in kitti dataset

[Ajithkumar1]

Hi @jlblancoc @famoreno and team,

Thank you for developing an amazing library - SRBA. Relative bundle adjustment techniques are gonna be highly usefull for mobile robotics community.

I got the srba-stereo-slam setup with my Ubuntu 16.04 desktop. I tried running on Kitti Odometry dataset 00. The system worked fine before encountering loop closure at 490->30. Suddenly, the system went abnormal as shown in the below image.

I am observing the similar behaviour in all the Kitti datasets whenever a loop closure is encountered.

I have attached the console verbose(verbose.txt) logs for your reference.

verbose.txt

Please let me know If you need any additional info. out_app3\loop_closure_info_1580.txt

optimization.txt dist.txt da.txt ls.txt