At the same time, the correctness of loop detection in 3D point cloud verification is considered in the experiment. A total of 1365 loops are detected in the running process of the algorithm, and 8 loops are excluded by 3D point cloud verification. After manual judgment, there are 3 actual wrong loops, all occurring at large corners. Point cloud verification reduces the recall rate of loop detection to a certain extent, but improves the accuracy, which ensures that the map will not appear large deviation.
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