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This pytorch-implemention (delta_head_only) is developed by Junyi Ma
Publication
If you use our implementation in your academic work, please cite the corresponding paper:
@inproceedings{chen2020rss,
author = {X. Chen and T. L\"abe and A. Milioto and T. R\"ohling and O. Vysotska and A. Haag and J. Behley and C. Stachniss},
title = {{OverlapNet: Loop Closing for LiDAR-based SLAM}},
booktitle = {Proceedings of Robotics: Science and Systems (RSS)},
year = {2020},
codeurl = {https://github.com/PRBonn/OverlapNet/},
videourl = {https://www.youtube.com/watch?v=YTfliBco6aw},
}
The extended journal version of OverlapNet is here:
@article{chen2021auro,
author = {X. Chen and T. L\"abe and A. Milioto and T. R\"ohling and J. Behley and C. Stachniss},
title = {{OverlapNet: A Siamese Network for Computing LiDAR Scan Similarity with Applications to Loop Closing and Localization}},
journal = {Autonomous Robots},
year = {2021},
doi = {10.1007/s10514-021-09999-0},
issn = {1573-7527}
}
Training
cd tools
python training.py
Testing on KITTI00
cd tools
python gen_feature_map_kitti00.py
python testing_kitti00.py
