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Although I am using loop closure detector by setting USE_LCD=1 I got the following image as the end point should be equal to the start point which is not implemented in my case #18

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omarosamahu opened this issue Nov 18, 2019 · 2 comments

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omarosamahu commented Nov 18, 2019

omarosamahu changed the title ~~Although I am using loop closure detector by setting USE_LCD=1 I got the following image~~ Although I am using loop closure detector by setting USE_LCD=1 I got the following image as the end point should be equal to the start point which is not implemented in my case

ToniRV assigned marcusabate

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ToniRV commented Nov 23, 2019

@omarosamahu you can change how likely Kimera is to detect loop closures by changing the parameter alpha, default is:

alpha: 0.001

The parameter is in here https://github.com/MIT-SPARK/Kimera-VIO/blob/master/params/LCDParameters.yaml

ToniRV closed this as completed

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omarosamahu commented Dec 5, 2019

Nothing changed after modifying the alpha parameter and the problem still exist

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