This repo contains the code of CSSC descriptor for paper: "A LiDAR-based single-shot global localization solution using a cross-section shape context descriptor".
CSSC is a global descriptor for LiDAR point cloud, which describes the spatial distribution characteristics of the point cloud from two dimensions. CSSC descriptors can be utilized for loop closure detection
The code was tested with Ubuntu 18.04, PCL 1.8.0.
For a quick demo for evaluating similarity between two LiDAR scans using CSSC descriptors.
git clone https://github.com/Dongxu05/CSSC.git
cd CSSC
mkdir build && cd build
cmake ..
make
./testCSSC