loop-closure topic
multi-camera-superpoint-SLAM
Graph based SLAM for multiple cameras using SuperPoint feature detector
FAST-LIO-SAM-QN
A SLAM implementation combining FAST-LIO2 with pose graph optimization and loop closing based on Quatro and Nano-GICP
FAST-LIO-Localization-QN
A Map-based localization implementation combining FAST-LIO2 as an odometry with Quatro + Nano-GICP as a map matching method
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
LPD-Net-Pytorch
LPD-Net: 3D Point Cloud Learning for Large-Scale Place Recognition and Environment Analysis (ICCV 2019)
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
contour-context
[ICRA'23] Official code repo for "Contour Context: Abstract Structural Distribution for 3D LiDAR Loop Detection and Metric Pose Estimation"
LIS-SLAM
Laser SLAM; Semantic-assisted point cloud matching; LiDAR/IMU fusion pose estimation; Loop closure detection; SubMap
loop-closure-toolbox
Loop closure Detection Toolbox with C++ and Python interface (DBoW3 and VLAD supported)
D_VINS
Merge superpoint、lightglue、MixVPR into VINS-FUSION for loop closure with TensorRT