loopclosure

[RAL 24] SGLC: Semantic Graph-Guided Coarse-Fine-Refine Full Loop Closing for LiDAR SLAM

A lightweight setero visual SLAM system implementation, including complete closed-loop detection, front-end tracking, back-end optimization, visualization and other parts.

A simple Loopclosure detection for A-LOAM

📖 对自己读过的论文和代码进行整理

Finding loop closures for a closed track for Formula Student events like FSG, FSA, FS East and many more using data-points provided by GPS.

Integrates a differential-drive mobile robot with ROS2 Humble and RTAB-Map SLAM for mapping and localization using an Intel RealSense D455 RGB-D camera. It supports simulation in Gazebo, real-time visual odometry, loop closure, and multi-session map persistence.

Implementation of visual-inertial SLAM using RealSense D455 and RTAB-Map in ROS. Compares ORB and SIFT for feature detection in real-time 3D mapping with loop closure and pose graph optimization on a mobile robot.