[code] Lightweight LiDAR SLAM

SC-LeGO-LOAM (Real-time LiDAR SLAM: Scan Context (18 IROS) + LeGO-LOAM (18 IROS)) is released!

• https://github.com/irapkaist/SC-LeGO-LOAM

Features

• Light-weight: a single header and cpp file named “Scancontext.h” and “Scancontext.cpp”
• Our module has KDtree and we used nanoflann . nanoflann is an also single-header-program and that file is in our directory.
• Easy to use: A user just remembers and uses only two API functions; makeAndSaveScancontextAndKeys and detectLoopClosureID.
• Fast: The loop detector runs at 10–15Hz (for 20 x 60 size, 10 candidates)

Examples

• Video 1: DCC (MulRan dataset)
• Video 2: Riverside (MulRan dataset)
• Video 3: KAIST (MulRan dataset)