Loop Closure Issue

[christophTUM]

Hello,
the SLAM works fine so far, however i have problems with the loop closure.
If i return to my start point the algorithm doesnt detect it and furthermore all the curves my robot drives are not detected in the right angle.
Is there a way to include IMU or GPS data?

[YuePanEdward]

Thanks for your interest.
Currently, the loop closure module may not perform well in some indoor scenarios. The parameters for TEASER needs to be tuned for different cases.
As for IMU and GPS data, the current system does not have support. But it should be straightforward to involve them in the pose graph if the data is available. I am considering adding the sensor fusion module in a future release.

[christophTUM]

Do you have any tips where to start with teaser?