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A python implementation of M2DP .

Project description

M2DP python

python implementation of the M2DP algorithm. Original repository can be found here.


Multiview 2D projection (M2DP) is a global descriptor of input point cloud.

      data        n*3     Point cloud. Each row is [x y z]
      desM2DP     192*1   M2DP descriptor of the input cloud data
      A           64*128  Signature matrix

Details of M2DP can be found in the following paper:

Li He, Xiaolong Wang and Hong Zhang, M2DP: A Novel 3D Point Cloud Descriptor and Its Application in Loop Closure Detection, IROS 2016.

Li He, Dept. of Computing Science, University of Alberta


  • Python 3.6
  • Numpy
  • Scikit-Learn


Follow the below format to extract features from pointcloud:

from m2dp import M2DP


Thank @jubaer145 for your help in this project.


  title={M2DP: A novel 3D point cloud descriptor and its application in loop closure detection},
  author={He, Li and Wang, Xiaolong and Zhang, Hong},
  booktitle={2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},


See LICENSE for details.

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