map-closures 2.0.0

Effectively Detecting Loop Closures using Point Cloud Density Maps

MapClosures

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Effectively Detecting Loop Closures using Point Cloud Density Maps.

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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 paper.

@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},
}

Acknowledgement

This repository is heavily inspired by, and also depends on KISS-ICP

Contributors