Trailer: Effectively Detecting Loop Closures using Point Cloud Density Maps

Paper trailer for the work:
S. Gupta, T. Guadagnino, B. Mersch, I. Vizzo, and C. Stachniss, “Effectively Detecting Loop Closures using Point Cloud Density Maps,” in Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA), 2024.
PDF: www.ipb.uni-bonn.de/wp-conten...
CODE: github.com/PRBonn/MapClosures

[@dodeakim]

😍

[@IvanIvanov-dk6sm]

How did you fine tune params of Kiss-ICP on Mulran Kaist 03 ? i launched several times kiss-icp on this dataset and the odometry was awful. At high speed of the car the scan matching did not work at all.

[@saurabhgupta5662]

Hello, we did not do any fine tuning on Kiss ICP for any MulRAN sequence used in our work. It gave us good odometry results with their default parameters.

[@IvanIvanov-dk6sm]

​@@saurabhgupta5662thank you!