bexcite / MapClosures

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

Dependencies

• Essentials

  sudo apt-get install --no-install-recommends -y build-essential ccache clang-format git cmake pybind11-dev

• Python

  sudo apt-get install --no-install-recommends -y python3 python3-numpy python3-pip
  pip3 install --upgrade pip
  pip3 install --upgrade numpy
  pip3 install kiss-icp

• OpenCV

  git clone --depth 1 https://github.com/opencv/opencv.git -b 4.x \
  cd opencv && mkdir build && cd build
  cmake .. && make -j$(nproc --all) && make install

MapClosures

git clone https://github.com/PRBonn/MapClosures.git
cd MapClosures
make

Usage

The following command will provide details about how to use our pipeline:

map_closure_pipeline --help

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