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Remove loop closures from pose graph


removeLoopClosures(slamObj) removes all loop closures from the underlying pose graph in slamObj.

removeLoopClosures(slamObj,lcEdgeIDs) removes the loop closure edges with the specified IDs from the underlying pose graph in slamObj.

Input Arguments

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Lidar SLAM object, specified as a lidarSLAM object. The object contains the SLAM algorithm parameters, sensor data, and underlying pose graph used to build the map

Loop closure edge IDs, specified as a vector of positive integers. To find specific edge IDs, use findEdgeID on the underlying poseGraph object defined in slamObj.

Extended Capabilities

Version History

Introduced in R2019b