relocal-adr 0.1.1

ADR: Real-Time and Robust 3D Place Recognition with Adaptive Data Reorganization and Geodesic-Constrained Plane Suppression

ADR: Real-Time and Robust 3D Place Recognition with Adaptive Data Reorganization and Geodesic-Constrained Plane Suppression

[NOTE]
This document may be out of date. See adr_code for the latest document.
This source code was based on STD: A Stable Triangle Descriptor for 3D place recognition.

💡 News

• September 2025: Accepted at RA-L

🍝 Install with pip

1. Install dependencies

   sudo apt update \
   && sudo apt install libgoogle-glog-dev \
       libgflags-dev \
       libatlas-base-dev \
       libeigen3-dev \
       libpcl-dev \
       libtbb-dev
   

2. Install python package

   pip install relocal_adr
   

🎼 Usage

1. Init place recognition object

   from relocal_adr import ADR, Feature
   from yaml import safe_load
   
   cfg = safe_load(open("config_kitti.yaml", "r"))
   adr = ADR(cfg)
   

2. Extract Descriptor from points

   # It is recommended to use dense point clouds
   frame_num = 10
   
   # Select the data loading method independently according to the data set
   # Load points in world frame, !!! NOT LOCAL FRAME !!!
   points: np.ndarray = dataloader.get(start_id, frame_num, frame.WORLD)
   
   # Extract feature from raw points
   feature: Feature = adr.extract(points)
   

3. Query matching results

   ress = adr.query(feature)
   
   # Print results
   if ress[0] >= 0:
       print(f"current frame match frame[{id}] in database, score is: {score}")
   

4. Update the feature to the database

   adr.update(feature)
   

5. For detailed usage, see demo.py

🐋 Develop in Docker

1. Build docker image

   docker compose build --pull
   

2. Attach the service with VSCode

   • Install ms-vscode-remote.remote-containers in vscode extension marketplace
   • Press F1, search "reopen in container"
   • Click it, and all settings are complete

3. Install local package

   uv sync
   uv pip install ./relocal_adr
   

🔗 Datasets

The demo sample uses the kitti_odom_2012_dataloader to load data. Similar data loaders include

• kaist-dataloader
• nclt-dataloader
• wild-dataloader

can be installed directly using pip

📝 Citation

@ARTICLE{wang2025adr,
  author={Wang, Chengmin and Zhuang, Yan and Yan, Fei and Zhang, Xuetao},
  journal={IEEE Robotics and Automation Letters}, 
  title={Real-Time and Robust 3D Place Recognition With Adaptive Data Reorganization and Geodesic-Constrained Plane Suppression}, 
  year={2025},
  volume={10},
  number={11},
  pages={11251-11258},
  doi={10.1109/LRA.2025.3609614}
}