/loopclosure_for_aloam

A simple Loopclosure detection for A-LOAM

Primary LanguageC++

Loopclosure for A-LOAM

This is a basic implementation of loopclosure detection for A-LOAM without optimization.

1. Dependency

2. Results

  • Before performing loop closure

  • After performing loop closure

3. Acknowledgements

Thanks for A-LOAM and LOAM(J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time) and Scancontext.