A fast, complete, point cloud based loop closure for LiDAR odometry and mapping

Jiarong Lin, Fu Zhang
9/25/2019
cs.ROcs.CV

Official code: hku-mars/loam_livox (1,624 stars, GPL-2.0, last commit 2020-02-24).

Abstract

This paper presents a loop closure method to correct the long-term drift in LiDAR odometry and mapping (LOAM). Our proposed method computes the 2D histogram of keyframes, a local map patch, and uses the normalized cross-correlation of the 2D histograms as the similarity metric between the current keyframe and those in the map. We show that this method is fast, invariant to rotation, and produces reliable and accurate loop detection. The proposed method is implemented with careful engineering and integrated into the LOAM algorithm, forming a complete and practical system ready to use. To benefit the community by serving a benchmark for loop closure, the entire system is made open source on Github

View on arXivView PDF

Code Implementations(1)

hku-mars/loam_livoxOfficial100%
GPL-2.0

A robust LiDAR Odometry and Mapping (LOAM) package for Livox-LiDAR

1,624453C, C++Jun 7, 20196 years agoGPL-2.0
livox-lidarloam

Similar Papers

SegMatch: Segment based loop-closure for 3D point clouds

90% match1 repo1.1k2016

A Minimal Subset Approach for Informed Keyframe Sampling in Large-Scale SLAM

85% match1 repo362025

GV-Bench: Benchmarking Local Feature Matching for Geometric Verification of Long-term Loop Closure Detection

83% match1 repo692024

PNE-SGAN: Probabilistic NDT-Enhanced Semantic Graph Attention Network for LiDAR Loop Closure Detection

82% match2025

Loop Closure Detection Based on Object-level Spatial Layout and Semantic Consistency

80% match1 repo162023

MAD-ICP: It Is All About Matching Data -- Robust and Informed LiDAR Odometry

80% match1 repo3332024

Cite this paper

@article{lin2019fast,
  title  = {A fast, complete, point cloud based loop closure for LiDAR odometry and mapping},
  author = {Jiarong Lin and Fu Zhang},
  year   = {2019},
  eprint = {1909.11811},
  archivePrefix = {arXiv},
  url    = {https://arxiv.org/abs/1909.11811}
}

Add a badge to your README

Shows whether official code is linked for this paper.

Code of Paper badge
[![Code of Paper](https://codeofpaper.com/badge/1909.11811.svg)](https://codeofpaper.com/paper/1909.11811)

Discussion