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LiPMatch: LiDAR Point Cloud Plane based Loop-Closure

We present a point clouds based loop-closure method to correct long-term drift in Light Detection and Ranging based Simultaneous Localization and Mapping systems.

Publication

If you use our implementation in your academic work, please cite the corresponding paper:

Jianwen Jiang, Jikai Wang, Peng Wang, Peng Bao and Zonghai Chen. LiPMatch: LiDAR Point Cloud Plane based Loop-Closure.

The BibTeX entry for the paper is:

@inproceedings{ jianwen2020ral, 
		author = {Jianwen Jiang, Jikai Wang, Peng Wang, Peng Bao and Zonghai Chen},
		title  = {LiPMatch: LiDAR Point Cloud Plane based Loop-Closure},
		booktitle = {IEEE RA-L},
		year = {2020}  
}

License

Copyright 2020 Jianwen Jiang, University of Science and Technology of China.

This project is free software made available under the MIT License. For details see the LICENSE file.