loop-closure
There are 6 repositories under loop-closure topic.
- Language:C++ 685
yanliang-wang / FAST_LIO_LC
The tight integration of FAST-LIO with Radius-Search-based loop closure module.
Language:C++ 537uoip / stereo_ptam
Python implementation of SLAM algorithm Stereo-PTAM
Language:Python 482TixiaoShan / imaging_lidar_place_recognition
ICRA 2021 - Robust Place Recognition using an Imaging Lidar
Language:C++ 428rsasaki0109 / li_slam_ros2
ROS 2 package of tightly-coupled lidar inertial ndt/gicp slam
Language:C++ 395GradientSpaces / LoopSplat
[3DV 2025, Oral] LoopSplat: Loop Closure by Registering 3D Gaussian Splats
Language:Python 365xuhao1 / VINS-Fisheye
Fisheye version of VINS-Fusion
Language:C++ 333engcang / FAST-LIO-SAM-QN
A SLAM implementation combining FAST-LIO2 with pose graph optimization and loop closing based on Quatro and Nano-GICP
Language:C++ 301- Language:C++ 275
A Map-based localization implementation combining FAST-LIO2 as an odometry with Quatro + Nano-GICP as a map matching method
Language:C++ 257KumarRobotics / SLIDE_SLAM
SlideSLAM: Sparse, Lightweight, Decentralized Metric-Semantic SLAM for Multi-Robot Navigation
Language:C++ 213lewisjiang / contour-context
[ICRA'23] Official code repo for "Contour Context: Abstract Structural Distribution for 3D LiDAR Loop Detection and Metric Pose Estimation"
Language:C++ 200- Language:Python 200
jyakaranda / ndt_map
SLAM package using NDT registration library of Autoware with loop-closure detection (odometry based) referenced from lego_loam.
Language:C++ 160PRBonn / online_place_recognition
Graph-based image sequences matching for the visual place recognition in changing environments.
Language:C++ 155KTH-RPL / neural_graph_mapping
Neural Graph Map: Dense Mapping with Efficient Loop Closure Integration
Language:Python 149A SLAM implementation combining FAST-LIO2 with pose graph optimization and loop closing based on ScanContext, Quatro, and Nano-GICP
Language:C++ 143kajo-kurisu / D_VINS
Merge superpoint、lightglue、MixVPR into VINS-FUSION for loop closure with TensorRT
Language:C++ 134z014xw / Awesome_visual_place_recognition_datasets
A curated list of Visual Place Recognition (VPR)/ loop closure detection (LCD) datasets
4ku / Place-recognition-evaluation
Benchmarking and evaluation framework for place recognition methods, featuring SuperPoint+SuperGlue, LoGG3D-Net, Scan Context, DBoW2, MixVPR, STD
Language:C++ 116Li-Jesse-Jiaze / ov_hloc
using hloc for loop closure in OpenVINS
Language:C++ 106A Map-based localization implementation combining FAST-LIO2 as an odometry with Quatro + Nano-GICP as a map matching method, and with ScanContext as a loop candidate detection method
Language:C++ 97JokerJohn / LIO-SAM-6AXIS-INTENSITY
LIO-SAM-6AXIS with intensity image loop optimization
Language:C++ 93csiro-robotics / Wild-Places
🏞️ [IEEE ICRA2023] The official repository for paper "Wild-Places: A Large-Scale Dataset for Lidar Place Recognition in Unstructured Natural Environments" To appear in 2023 IEEE International Conference on Robotics and Automation (ICRA)
Language:Python 90- Language:Python 80
- SALSA-Semantic-Assisted-SLAM
heethesh / SALSA-Semantic-Assisted-SLAM
SALSA: Semantic Assisted Life-Long SLAM for Indoor Environments (16-833 SLAM Project at CMU)
Language:C++ 79 rpng / ov_secondary
Secondary posegraph adapted for interfacing with OpenVINS, based on VINS-Mono / VINS-Fusion.
Language:C++ 70QingzhiWang / LIS-SLAM
Laser SLAM; Semantic-assisted point cloud matching; LiDAR/IMU fusion pose estimation; Loop closure detection; SubMap
Language:C++ 69Ground Truth of KITTI dataset (odometry benchmark) for loop closure detection or visual place recognition
jagennath-hari / multi-camera-superpoint-SLAM
Graph based SLAM for multiple cameras using SuperPoint feature detector
Language:C++ 48Roger-Chuh / vins-fisheye-cubemap
a VINS algorithm with a combination of stereo fisheye images, cubemap, line features, dense mapping and loop closure
Language:C++ 35SYSU-RoboticsLab / EHPR
3D LiDAR place recognition targeting the heterogeneous robots scenario
HyeonJaeGil / loop-closure-toolbox
Loop closure Detection Toolbox with C++ and Python interface (DBoW3 and VLAD supported)
Language:C++ 24qiaozhijian / LPD-Net-Pytorch
LPD-Net: 3D Point Cloud Learning for Large-Scale Place Recognition and Environment Analysis (ICCV 2019)
Language:Python 22zhuyifan1993 / Direct_RGB-D_SLAM
a visual SLAM system performed on RGB-D images
Language:Python 15Registration-aided 3D Point Cloud Learning for Large-Scale Place Recognition (IROS 2021)
Language:Python 11
