How To Use Loop Closure; Criteria To Detect And Close A Loop - Paracosm PX-80 Field Manual

How to use
loop closure

Criteria to detect and close a loop:

● Loops are detected from the geometric
features captured from the LiDAR. Need
similar position in an environment with
similar FOV to detect a loop.
● Walk the same area for at least 3
meters to give the software several
chances to detect a loop
Periodically return to areas that have
1.
already been captured. Multiple,
smaller loops will reduce the drift over
the length of the data capture.
Make sure to return to the data capture
2.
start location so that a loop can be
detected.
Note: loop closure will not fix broken
3.
scans due to tracking loss. Moving the
PX-80 slowly into new areas (rooms,
doorways, hallways) will improve the
tracking quality. Try to scan smoothly,
moving slowly when turning around or
taking corners.