Loopclosure for A-LOAM

This is a basic implementation of loopclosure detection for A-LOAM without optimization.

1. Dependency

• GTSAM
• ROS
• PCL
• Scancontext

2. Results

• Before performing loop closure

  

• After performing loop closure

  

3. Acknowledgements

Thanks for A-LOAM and LOAM(J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time) and Scancontext.