How can I perform loop closure in graph SLAM?

Question

Hi, I am trying to implement graph based SLAM and I am using g2o for backend. So far I have

1. Constructed a graph using laser data i.e pose-pose graph
2. I dont have any odometry source so I used Scan_matcher to estimate pose constraints

Now I dont understand how to add and loop closures in my graph. I read some papers but the implementation details are naive to me. I would be thankful if someone could point me in the right direction Thanks

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Originally posted by ZainMehdi on ROS Answers with karma: 225 on 2017-04-18

Post score: 2

Answer 1

You can use slam_karto_g2o. It uses open_karto for the front-end and g2o for the backend. Other options are slam_karto and nav2d, both of which use sparse_bundle_adjustment for the backend.

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Originally posted by Saurav Agarwal with karma: 246 on 2017-08-14

This answer was ACCEPTED on the original site

Post score: 1

Answer 2

If you're after a well working graph SLAM solution (without requiring specifically the use of g2o), cartographer and it's ROS integration cartographer_ros is the obvious approach to try. It's 2D and 3D capable, provides good performance and has very responsive support.

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Originally posted by Stefan Kohlbrecher with karma: 24361 on 2017-08-15

This answer was NOT ACCEPTED on the original site

Post score: 5

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Original comments

Comment by ZainMehdi on 2017-08-15:
I will give it a try. Thnx :)