回环检测

[ZhangHaizhe]

作者您好，请问在建图环节，对于重复的路面，slam的重要环节之一，回环检测，请问您的作品是如何考虑的呢，我在您的roadlib说明文档（csdn看见的）并没发现，也可能是我漏了。

[yuxuanzhou97]

Thank you for your attention!
This is actually an important issue. There are different approaches to achieve this function, and we are working on this.

In the current version of the repository, we circumvent this issue by introducing GNSS.

In the provided example, you would notice the map drift during local mapping. Through geo-registering (in which GNSS information is introduced), the map is corrected and overlapped instances are merged, thus to achieve relatively consistent mapping.