A simple and stupid method for loop closure detection in 3D LIDAR data:

Rohling T, Mack J, Schulz D. A fast histogram-based similarity measure for detecting loop closures in 3-D LIDAR data[C]// Ieee/rsj International Conference on Intelligent Robots and Systems. IEEE, 2015:736-741.

Images

Our own data in Yuquan Campus, from Velodyen VLP16.

two loop closures on 2017.03.07 in Zhejiang University:

Bins of single scan:

Similarity Matrix:

Test on kitti_odom_benchmark 05:

The ground truth poses in SM-Matrix:

PR-Curve of EMD & Cos:

ROC-Curve of EMD & Cos:

Thanks:

Ethz_asl for libpointmatcher

IS GOING ON

start to use deep learning on Place Recognition