Loop detection

[Zale-Liu]

I am curious about your loop detection module, while you did not mention it in your paper. So I want to know how your loop-detection module work? Which paper or website can I refer to?

[kailaili]

Hi, there will be an update of the paper coming soon with more details about loop detection. Otherwise it's a typical ICP-based approach with loop closures searched in both spatial and temporal domains. The corresponding code can be found in the backend fusion module.

[Zale-Liu]

Thank you very much. I am reading your code and feel confused of some codes. I look forward to your updated paper.