relocalization base on loop closure

[thomas8329]

Hello,

I know that the parameter RGBD/StartAtOrigin permits 2 modes :

• the drone start/restart at the origin
• the drone start/restart at the last saved localization.

I have a map, and i'm in localization mode. When the position/information is lost, i want the drone to recognize its position thanks to loop closure.
I tried to modify a lot of parameters but it doesn't seem to work.

Do you have an idea on how to do it ?

Thanks
(@matlabbe )

[matlabbe]

What do you mean by "When the position/information is lost" ? Visual odometry is lost, or the drone is not localized correctly against the map?

For the second one, has the environment changed between the mapping and localization session? (e..g, different lighting) Is the drone flying at same height than in mapping mode? looking approximately same direction? The point of view is important to be able to re-localize. Are there enough visual features in the environment? The default parameters should work for most cases at least to a minimum, if it doesn't work at all, there could be an issue with the sensor input, the environment changed too much or lack of texture, or the trajectory is too different than the mapping one.