A 3D point cloud descriptor for place recognition

Python implementation of SLAM algorithm Stereo-PTAM

ICRA 2021 - Robust Place Recognition using an Imaging Lidar

The tight integration of FAST-LIO with Radius-Search-based loop closure module.

ROS 2 package of tightly-coupled lidar inertial ndt/gicp slam

Fisheye version of VINS-Fusion

LoopSplat: Loop Closure by Registering 3D Gaussian Splats

graph-theoretic framework for robust pairwise data association

A SLAM implementation combining FAST-LIO2 with pose graph optimization and loop closing based on Quatro and Nano-GICP

Convolutional Autoencoder for Loop Closure

[ICRA'23] Official code repo for "Contour Context: Abstract Structural Distribution for 3D LiDAR Loop Detection and Metric Pose Estimation"

SLAM package using NDT registration library of Autoware with loop-closure detection (odometry based) referenced from lego_loam.

Graph-based image sequences matching for the visual place recognition in changing environments.

A Map-based localization implementation combining FAST-LIO2 as an odometry with Quatro + Nano-GICP as a map matching method

A curated list of Visual Place Recognition (VPR)/ loop closure detection (LCD) datasets

Benchmarking and evaluation framework for place recognition methods, featuring SuperPoint+SuperGlue, LoGG3D-Net, Scan Context, DBoW2, MixVPR, STD

using hloc for loop closure in OpenVINS

LIO-SAM-6AXIS with intensity image loop optimization

🏞️ [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)

Python implementation of RGBD-PTAM algorithm