MapClosures
• Install • ICRA24 Paper • IJRR26 Paper • Contact Us
Effectively Detecting Loop Closures using Point Cloud Density Maps.
Install the Python API and CLI
pip install map-closures
Usage
The following command will provide details about how to use our pipeline:
map_closure_pipeline --help
Providing the -v flag will initialize the visualizer:
map_closure_pipeline -v
Citation
If you use this library for any academic work, please cite our original papers.
@inproceedings{gupta2024icra,
author = {S. Gupta and T. Guadagnino and B. Mersch and I. Vizzo and C. Stachniss},
title = {{Effectively Detecting Loop Closures using Point Cloud Density Maps}},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
year = {2024},
codeurl = {https://github.com/PRBonn/MapClosures},
}
@article{gupta2026ijrr,
author = {Saurabh Gupta and Tiziano Guadagnino and Benedikt Mersch and Niklas Trekel and Meher V. R. Malladi and Cyrill Stachniss},
title = {{Efficiently Closing Loops in LiDAR-Based SLAM Using Point Cloud Density Maps}},
booktitle = {The International Journal of Robotics Research (IJRR)},
volume = {0},
number = {0},
year = {2026},
codeurl = {https://github.com/PRBonn/MapClosures},
}
Acknowledgement
This repository is heavily inspired by, and also depends on KISS-ICP
Contributors
1 maintainer
Metadata
1 maintainer
Release files for map-closures 2.2.0
For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.
Source distribution (sdist)
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Built distributions (wheels)
Total release size: 508.9 MB
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