Topic: "loop-closure"
hku-mars/STD
A 3D point cloud descriptor for place recognition
Language: C++ - Size: 3 MB - Last synced at: 20 days ago - Pushed at: almost 2 years ago - Stars: 635 - Forks: 76
uoip/stereo_ptam
Python implementation of SLAM algorithm Stereo-PTAM
Language: Python - Size: 992 KB - Last synced at: 5 months ago - Pushed at: over 7 years ago - Stars: 474 - Forks: 136
TixiaoShan/imaging_lidar_place_recognition
ICRA 2021 - Robust Place Recognition using an Imaging Lidar
Language: C++ - Size: 61.8 MB - Last synced at: 20 days ago - Pushed at: 9 months ago - Stars: 419 - Forks: 87
rsasaki0109/li_slam_ros2
ROS 2 package of tightly-coupled lidar inertial ndt/gicp slam
Language: C++ - Size: 3.67 MB - Last synced at: 8 days ago - Pushed at: 8 days ago - Stars: 347 - Forks: 44
xuhao1/VINS-Fisheye
Fisheye version of VINS-Fusion
Language: C++ - Size: 66.8 MB - Last synced at: 19 days ago - Pushed at: 10 months ago - Stars: 322 - Forks: 51
yanliang-wang/FAST_LIO_LC
The tight integration of FAST-LIO with Radius-Search-based loop closure module.
Language: C++ - Size: 176 MB - Last synced at: over 1 year ago - Pushed at: almost 2 years ago - Stars: 249 - Forks: 60
GradientSpaces/LoopSplat
[3DV 2025] LoopSplat: Loop Closure by Registering 3D Gaussian Splats
Language: Python - Size: 165 MB - Last synced at: 6 months ago - Pushed at: 6 months ago - Stars: 241 - Forks: 12
engcang/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++ - Size: 966 KB - Last synced at: 6 months ago - Pushed at: 6 months ago - Stars: 213 - Forks: 16
rpng/calc
Convolutional Autoencoder for Loop Closure
Language: Python - Size: 31.6 MB - Last synced at: 24 days ago - Pushed at: over 5 years ago - Stars: 198 - Forks: 46
lewisjiang/contour-context
[ICRA'23] Official code repo for "Contour Context: Abstract Structural Distribution for 3D LiDAR Loop Detection and Metric Pose Estimation"
Language: C++ - Size: 771 KB - Last synced at: about 1 month ago - Pushed at: about 1 year ago - Stars: 193 - Forks: 25
mit-acl/clipper
graph-theoretic framework for robust pairwise data association
Language: C++ - Size: 305 KB - Last synced at: about 1 year ago - Pushed at: almost 2 years ago - Stars: 192 - Forks: 30
KumarRobotics/SLIDE_SLAM
SlideSLAM: Sparse, Lightweight, Decentralized Metric-Semantic SLAM for Multi-Robot Navigation
Language: C++ - Size: 9.08 MB - Last synced at: 20 days ago - Pushed at: 3 months ago - Stars: 177 - Forks: 9
PRBonn/online_place_recognition
Graph-based image sequences matching for the visual place recognition in changing environments.
Language: C++ - Size: 1.95 MB - Last synced at: 16 days ago - Pushed at: over 2 years ago - Stars: 154 - Forks: 40
engcang/FAST-LIO-Localization-QN
A Map-based localization implementation combining FAST-LIO2 as an odometry with Quatro + Nano-GICP as a map matching method
Language: C++ - Size: 79.1 KB - Last synced at: 6 months ago - Pushed at: 6 months ago - Stars: 145 - Forks: 11
jyakaranda/ndt_map
SLAM package using NDT registration library of Autoware with loop-closure detection (odometry based) referenced from lego_loam.
Language: C++ - Size: 1.33 MB - Last synced at: over 1 year ago - Pushed at: almost 6 years ago - Stars: 143 - Forks: 60
z014xw/Awesome_visual_place_recognition_datasets
A curated list of Visual Place Recognition (VPR)/ loop closure detection (LCD) datasets
Size: 17.6 KB - Last synced at: 6 days ago - Pushed at: over 4 years ago - Stars: 117 - Forks: 8
csiro-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 - Size: 92.3 MB - Last synced at: 6 months ago - Pushed at: 6 months ago - Stars: 78 - Forks: 3
engcang/FAST-LIO-SAM-SC-QN
A SLAM implementation combining FAST-LIO2 with pose graph optimization and loop closing based on ScanContext, Quatro, and Nano-GICP
Language: C++ - Size: 47.9 KB - Last synced at: 6 months ago - Pushed at: 6 months ago - Stars: 76 - Forks: 5
Li-Jesse-Jiaze/ov_hloc
using hloc for loop closure in OpenVINS
Language: C++ - Size: 17.1 MB - Last synced at: about 1 year ago - Pushed at: over 2 years ago - Stars: 76 - Forks: 17
heethesh/SALSA-Semantic-Assisted-SLAM
SALSA: Semantic Assisted Life-Long SLAM for Indoor Environments (16-833 SLAM Project at CMU)
Language: C++ - Size: 77 MB - Last synced at: 5 days ago - Pushed at: almost 5 years ago - Stars: 75 - Forks: 12
4ku/Place-recognition-evaluation
Benchmarking and evaluation framework for place recognition methods, featuring SuperPoint+SuperGlue, LoGG3D-Net, Scan Context, DBoW2, MixVPR, STD
Language: C++ - Size: 887 KB - Last synced at: 11 months ago - Pushed at: 11 months ago - Stars: 74 - Forks: 2
kajo-kurisu/D_VINS
Merge superpoint、lightglue、MixVPR into VINS-FUSION for loop closure with TensorRT
Language: C++ - Size: 80.1 MB - Last synced at: 5 months ago - Pushed at: 5 months ago - Stars: 68 - Forks: 8
rpng/ov_secondary
Secondary posegraph adapted for interfacing with OpenVINS, based on VINS-Mono / VINS-Fusion.
Language: C++ - Size: 53.5 MB - Last synced at: 24 days ago - Pushed at: almost 5 years ago - Stars: 67 - Forks: 21
uoip/rgbd_ptam
Python implementation of RGBD-PTAM algorithm
Language: Python - Size: 1.31 MB - Last synced at: about 2 years ago - Pushed at: over 7 years ago - Stars: 67 - Forks: 25
JokerJohn/LIO-SAM-6AXIS-INTENSITY
LIO-SAM-6AXIS with intensity image loop optimization
Language: C++ - Size: 165 MB - Last synced at: about 2 years ago - Pushed at: over 2 years ago - Stars: 64 - Forks: 8
z014xw/KITTI_GroundTruth
Ground Truth of KITTI dataset (odometry benchmark) for loop closure detection or visual place recognition
Size: 74.2 KB - Last synced at: 7 months ago - Pushed at: over 4 years ago - Stars: 62 - Forks: 11
engcang/FAST-LIO-Localization-SC-QN
A 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++ - Size: 66.4 KB - Last synced at: 6 months ago - Pushed at: 6 months ago - Stars: 47 - Forks: 6
QingzhiWang/LIS-SLAM
Laser SLAM; Semantic-assisted point cloud matching; LiDAR/IMU fusion pose estimation; Loop closure detection; SubMap
Language: C++ - Size: 5.46 MB - Last synced at: about 2 years ago - Pushed at: almost 3 years ago - Stars: 30 - Forks: 7
Roger-Chuh/vins-fisheye-cubemap
a VINS algorithm with a combination of stereo fisheye images, cubemap, line features, dense mapping and loop closure
Language: C++ - Size: 59.3 MB - Last synced at: almost 2 years ago - Pushed at: almost 2 years ago - Stars: 18 - Forks: 4
HyeonJaeGil/loop-closure-toolbox
Loop closure Detection Toolbox with C++ and Python interface (DBoW3 and VLAD supported)
Language: C++ - Size: 11.7 MB - Last synced at: about 1 year ago - Pushed at: over 1 year ago - Stars: 12 - Forks: 0
jagennath-hari/multi-camera-superpoint-SLAM
Graph based SLAM for multiple cameras using SuperPoint feature detector
Language: C++ - Size: 2.6 MB - Last synced at: over 1 year ago - Pushed at: over 1 year ago - Stars: 9 - Forks: 1
zenetio/map_my_world
Robot Map the World
Language: CMake - Size: 12.1 MB - Last synced at: about 1 year ago - Pushed at: almost 4 years ago - Stars: 8 - Forks: 0
SYSU-RoboticsLab/EHPR
3D LiDAR place recognition targeting the heterogeneous robots scenario
Size: 1.95 KB - Last synced at: about 1 month ago - Pushed at: about 1 month ago - Stars: 7 - Forks: 0
Aryaman22102002/FAST_LIO_Loop_Closure_Test_On_NUANCE
Comparing FAST-LIO and FAST-LIO LC algorithms using our own custom data.
Language: Python - Size: 86.8 MB - Last synced at: 3 months ago - Pushed at: 4 months ago - Stars: 3 - Forks: 0
JunaidHassan19/LeetCode-DailyQuestions
This repository contains my solutions to LeetCode Daily Questions, implemented in JavaScript. Each solution is organized by date and problem name for easy reference.
Language: JavaScript - Size: 69.3 KB - Last synced at: about 1 month ago - Pushed at: about 1 month ago - Stars: 1 - Forks: 0
austinvishal/Mechanism-Mockup-Parallelogram-linkage
This repository illustrates closed loop kinematics of four bar linkage
Language: MATLAB - Size: 635 KB - Last synced at: about 1 month ago - Pushed at: 10 months ago - Stars: 1 - Forks: 1
Exception4U/Multirobot_SLAM
Multi-Session / Multi-Robot trajectory merging for CAIR milestone Review
Language: C++ - Size: 607 KB - Last synced at: over 1 year ago - Pushed at: over 7 years ago - Stars: 1 - Forks: 1
ashkan90/looper_reflect
JS-like loops in golang.
Language: Go - Size: 3.91 KB - Last synced at: about 2 years ago - Pushed at: over 5 years ago - Stars: 0 - Forks: 0
