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HKUST-Aerial-Robotics / G3Reg

A fast and robust global registration library for outdoor LiDAR point clouds.
MIT License
204 stars 13 forks source link

Application Code #2

Closed wolf943134497 closed 4 months ago

wolf943134497 commented 4 months ago

Hi @qiaozhijian thanks for your great works!

Will the Multi-session Map Merging Application code be open source?

How much better is G3Reg than methods like scancontext when do Map Merging Application?

Thanks

qiaozhijian commented 4 months ago

I'm sorry that the map merging code won't be open source because the code is the part of an unpublished work of my partner.

I didn't compare G3Reg with scancontext. But you can see the benchmark and video. The translation range of G3Reg is much larger than most loop closure methods which can only handle the translation below 5~10m.