LiDAR Iris for Loop-Closure Detection

Our reimplemented c++ code for our IROS2020 paper "LiDAR Iris for Loop-Closure Detection".

Publication

Ying Wang, Zezhou Sun, Cheng-Zhong Xu, Sanjay Sarma, Jian Yang, and Hui Kong, LiDAR Iris for Loop-Closure Detection, IEEE International Conference on Intelligent Robotics and Systems (IROS) 2020.

Usage

1. Requirement

1. cmake
2. PCL
3. OpenCV

2. Build

cd ${YOUR_PROJECT_DIR}
mdkir build
cd build
cmake ..
make

3. Run

./demo
python draw.py