C++ implementation of a LoopClosure Detector for a 2D laser scans sensor.

Libraries needed for compiling:

• Eigen3
• OpenCV

loop-detector-2d.txt contains the output of a laser scanner.

trajectoryLaser.g2o contains some key nodes out from the total locations where scans have been made, together with their pose (x y theta), extracted from odometry.

To compile:

mkdir build
cd build
cmake ..
make

To execute:

./display_test This executable allows to display all the scans: use "A" and "D" keys to browse between them.

./alignment_test This executable allows to run optimization between a pair of scans. The 2 scans can be given as input arguments (e.g. ./alignment_test 32975 31308). You can run 1 optimization round using "spacebar", the full optimization until stopping criterion using "enter", display the current best transformation using "X".

./closure_finder This will automatically produce a list of candidate closures, written into a .txt file.