The pipeline is now updated in accordance to our recent research paper which was accepted at the International Journal of Robotics Research (IJRR), 2026.
Key improvements:
- New ground alignment module for consistent BEV projections upon revisit
- Self-similarity feature pruning strategy to handle perceptual aliasing
What's Changed
- Fix bug with non-eval dataloaders by @saurabh1002 in #74
- Here come the gods by @saurabh1002 in #75
- Fix dataloaders by @saurabh1002 in #76
- Upgrade open3d minimum version by @saurabh1002 in #78
- Fix KITTI dataloader by @saurabh1002 in #80
- Updated Ground Alignment and Add Local Map-Based Evaluation of Closures by @saurabh1002 in #81
- Set Python version to 3.10 in workflow by @saurabh1002 in #87
- Check reference_id in description matches vector by @Omega3395 in #83
- Add GitHub Actions to Dependabot config by @saurabh1002 in #88
- Bump actions/checkout from 3 to 6 by @dependabot[bot] in #90
- Bump pre-commit/action from 3.0.0 to 3.0.1 by @dependabot[bot] in #91
- Bump actions/setup-python from 3 to 6 by @dependabot[bot] in #92
- Bump actions/upload-artifact from 4 to 5 by @dependabot[bot] in #89
- API consistency fix by @saurabh1002 in #95
- Bump jwlawson/actions-setup-cmake from 1.13 to 2.0 by @dependabot[bot] in #96
- Bump actions/download-artifact from 4 to 6 by @dependabot[bot] in #97
- API to only match maps to existing database (no insertion) by @saurabh1002 in #98
- Remove gt_closure_pipeline script from pyproject.toml by @saurabh1002 in #100
- Bump actions/download-artifact from 6 to 7 by @dependabot[bot] in #103
- Bump actions/cache from 4 to 5 by @dependabot[bot] in #102
- Bump actions/upload-artifact from 5 to 6 by @dependabot[bot] in #104
- Bump actions/upload-artifact from 6 to 7 by @dependabot[bot] in #109
- Bump actions/download-artifact from 7 to 8 by @dependabot[bot] in #108
- Bump jwlawson/actions-setup-cmake from 2.0 to 2.1 by @dependabot[bot] in #107
- fix comparator for std::sort, follow strict weak ordering by @saurabh1002 in #112
- Increase iterations for RANSAC to improve AVIA scanner performance by @saurabh1002 in #113
- Refactor and optimize alignment and density map code by @saurabh1002 in #114
- bump version for new release by @saurabh1002 in #115
New Contributors
- @Omega3395 made their first contribution in #83
- @dependabot[bot] made their first contribution in #90
Full Changelog: v2.0.2...v2.1.0
Contributors
Omega3395, dependabot, and saurabh1002