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map-closures

Effectively Detecting Loop Closures using Point Cloud Density Maps

https://github.com/prbonn/mapclosures

Science Score: 52.0%

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    Low similarity (13.6%) to scientific vocabulary
Last synced: 6 months ago · JSON representation ·

Repository

Effectively Detecting Loop Closures using Point Cloud Density Maps

Basic Info
  • Host: GitHub
  • Owner: PRBonn
  • License: mit
  • Language: C++
  • Default Branch: main
  • Size: 217 KB
Statistics
  • Stars: 366
  • Watchers: 6
  • Forks: 30
  • Open Issues: 0
  • Releases: 7
Created about 2 years ago · Last pushed 7 months ago
Metadata Files
Readme License Citation Codeowners

README.md

MapClosures



  •   Install   •   ICRA24 Paper   •   Contact Us

Effectively Detecting Loop Closures using Point Cloud Density Maps.

![image](https://github.com/PRBonn/MapClosures/assets/28734882/18d5ee54-61a9-4d9f-87f2-8aba16de0f75)

Use MapClosures in your C++ project

  1. Include the following snippet in your project's CMakeLists.txt: ```cmake set(USESYSTEMEIGEN3 ON CACHE BOOL "use system eigen3") set(USESYSTEMOPENCV ON CACHE BOOL "use system opencv")

include(FetchContent) FetchContentDeclare( mapclosures GITREPOSITORY https://github.com/PRBonn/MapClosures.git GITTAG main SOURCESUBDIR cpp ) FetchContentMakeAvailable(map_closures)

``` You can trigger the automatic installation of the dependencies by playing around with the options in the first three lines of the snippet.

  1. Link MapClosures against your library or executable: cmake target_link_libraries(my_target PUBLIC map_closures)
  2. The following include directive in your source code file will provide access to the core API of MapClosures: cpp #include <map_closures/MapClosures.hpp>

Install the Python API and CLI

pip install map-closures

Usage

The following command will provide details about how to use our pipeline: ```sh map_closure_pipeline --help ``` ![CLI_usage](https://github.com/PRBonn/MapClosures/assets/28734882/6dfbd767-ca63-4671-9582-3129752d0244)
Providing the -v flag will initialize the visualizer: ```sh map_closure_pipeline -v ``` ![Visualizer](https://github.com/user-attachments/assets/34aa2b2f-c0ce-4dfb-a0e0-cbcc04487a5a)

Citation

If you use this library for any academic work, please cite our original paper.

bibtex @inproceedings{gupta2024icra, author = {S. Gupta and T. Guadagnino and B. Mersch and I. Vizzo and C. Stachniss}, title = {{Effectively Detecting Loop Closures using Point Cloud Density Maps}}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA)}, year = {2024}, codeurl = {https://github.com/PRBonn/MapClosures}, }

Paper Results

As we decided to continue the development of MapClosures beyond the scope of the ICRA paper, we created a git tag so that researchers can consistently reproduce the results of the publication. To checkout at this tag, you can run the following: sh git checkout ICRA2024 Our development aims to push the performances of MapClosures above the original results of the paper.

Acknowledgement

This repository is heavily inspired by, and also depends on KISS-ICP

Contributors

Owner

  • Name: Photogrammetry & Robotics Bonn
  • Login: PRBonn
  • Kind: organization
  • Email: cyrill.stachniss@igg.uni-bonn.de
  • Location: Bonn

Photogrammetry & Robotics Lab at the University of Bonn

Citation (CITATION.cff) 

cff-version: 1.2.0
preferred-citation:
  title: "Effectively Detecting Loop Closures using Point Cloud Density Maps"
  year: "2024"
  type: conference-paper
  collection-title: "IEEE International Conference on Robotics and Automation (ICRA)"
  url: https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/gupta2024icra.pdf
  codeurl: https://github.com/PRBonn/MapClosures
  authors:
    - family-names: Gupta
      given-names: Saurabh
    - family-names: Guadagnino
      given-names: Tiziano
    - family-names: Mersch
      given-names: Benedikt
    - family-names: Vizzo
      given-names: Ignacio
    - family-names: Stachniss
      given-names: Cyrill

GitHub Events

Total
  • Create event: 28
  • Release event: 7
  • Issues event: 19
  • Watch event: 107
  • Delete event: 24
  • Issue comment event: 34
  • Push event: 57
  • Pull request review comment event: 4
  • Pull request review event: 23
  • Pull request event: 41
  • Fork event: 8
Last Year
  • Create event: 28
  • Release event: 7
  • Issues event: 19
  • Watch event: 107
  • Delete event: 24
  • Issue comment event: 34
  • Push event: 57
  • Pull request review comment event: 4
  • Pull request review event: 23
  • Pull request event: 41
  • Fork event: 8

Committers

Last synced: 10 months ago

All Time
  • Total Commits: 75
  • Total Committers: 9
  • Avg Commits per committer: 8.333
  • Development Distribution Score (DDS): 0.32
Past Year
  • Commits: 31
  • Committers: 4
  • Avg Commits per committer: 7.75
  • Development Distribution Score (DDS): 0.097
Top Committers
Name Email Commits
Saurabh Gupta s****2@g****m 51
tizianoGuadagnino f****3@g****m 15
Benedikt Mersch b****h@g****m 3
Tiziano Guadagnino 3****t 1
Pavlo Bashmakov 1****e 1
Meher Malladi r****7@g****m 1
Javier Laserna j****6@m****m 1
Hyunggi Chang 3****5 1
Dominik Kulmer 9****r 1
Committer Domains (Top 20 + Academic)
me.com: 1

Issues and Pull Requests

Last synced: 6 months ago

All Time
  • Total issues: 18
  • Total pull requests: 69
  • Average time to close issues: 3 days
  • Average time to close pull requests: 17 days
  • Total issue authors: 14
  • Total pull request authors: 8
  • Average comments per issue: 3.0
  • Average comments per pull request: 0.32
  • Merged pull requests: 52
  • Bot issues: 0
  • Bot pull requests: 0
Past Year
  • Issues: 13
  • Pull requests: 42
  • Average time to close issues: 3 days
  • Average time to close pull requests: 10 days
  • Issue authors: 10
  • Pull request authors: 4
  • Average comments per issue: 3.38
  • Average comments per pull request: 0.07
  • Merged pull requests: 28
  • Bot issues: 0
  • Bot pull requests: 0
View more stats
Top Authors
Issue Authors
  • LL884800 (4)
  • leblond14u (2)
  • changh95 (2)
  • G4419 (1)
  • yangcc0503 (1)
  • pengjianlinbs (1)
  • cellomario (1)
  • Efesendil (1)
  • srlausten (1)
  • Snow-know-nothing (1)
  • dzrdzrdzr (1)
  • frapit (1)
  • Omega3395 (1)
  • JeffR1992 (1)
Pull Request Authors
  • saurabh1002 (62)
  • tizianoGuadagnino (13)
  • benemer (7)
  • jlaserna (4)
  • bexcite (2)
  • ga58lar (2)
  • changh95 (2)
  • raw-t (1)
  • mehermvr (1)
Top Labels
Issue Labels
question (3) bug (1) wontfix (1) documentation (1)
Pull Request Labels
python (13) enhancement (10) bug (7) documentation (7) c++ (5) cmake (3)

Packages

  • Total packages: 1
  • Total downloads:
    • pypi 469 last-month
  • Total dependent packages: 0
  • Total dependent repositories: 0
  • Total versions: 4
  • Total maintainers: 1
pypi.org: map-closures

Effectively Detecting Loop Closures using Point Cloud Density Maps

  • Versions: 4
  • Dependent Packages: 0
  • Dependent Repositories: 0
  • Downloads: 469 Last month
Rankings
Dependent packages count: 9.8%
Average: 32.3%
Dependent repos count: 54.9%
Maintainers (1)
saurabh.gupta1002
Last synced: 6 months ago

Dependencies

python/pyproject.toml pypi
  • numpy *
  • pydantic >=2
  • pydantic-settings *
  • rich *
  • tqdm *
  • typer [all]>=0.6.0