OpenAgent.bot
Back to Troubleshooting Hub
mediumalgorithm

SLAM: Loop Closure Detection Failing

Published 2/9/2024 • by OpenAgent.bot Team

Symptoms

Map drift accumulates over time, robot fails to recognize previously visited locations

Root Cause

Insufficient visual features, poor lighting conditions, or incorrect loop closure parameters

Solution
  1. Improve environment lighting and add visual markers
  2. Adjust loop closure threshold in config:
loop_closure_detection:
  min_score: 0.6  # Lower for easier detection
  min_inliers: 15  # Reduce if environment has few features
  1. Use a more robust descriptor (e.g., SuperPoint instead of ORB)
  2. Increase keyframe frequency for better coverage
Verification

Test in a loop trajectory. The robot should recognize the starting point and correct accumulated drift.

Tags

slamlocalizationmapping

Affected Components

slamvision