We present a point clouds based loop-closure method to correct long-term drift in Light Detection and Ranging based Simultaneous Localization and Mapping systems.
If you use our implementation in your academic work, please cite the corresponding paper:
Jianwen Jiang, Jikai Wang, Peng Wang, Peng Bao and Zonghai Chen. LiPMatch: LiDAR Point Cloud Plane based Loop-Closure.
The BibTeX entry for the paper is:
@inproceedings{ jianwen2020ral,
author = {Jianwen Jiang, Jikai Wang, Peng Wang, Peng Bao and Zonghai Chen},
title = {LiPMatch: LiDAR Point Cloud Plane based Loop-Closure},
booktitle = {IEEE RA-L},
year = {2020}
}
Copyright 2020 Jianwen Jiang, University of Science and Technology of China.
This project is free software made available under the MIT License. For details see the LICENSE file.