This is a set of codes for 3D LiDAR point cloud global descriptor generation and matching, and is used in loop closure detection tasks. Any questions please contact with the first author Mr. Ruihao Zhou, who is my master student, via 2112001024@mail2.gdut.edu.cn or directly with me via hel@sustech.edu.cn.
Source code:
https://github.com/zhouruihao1001/NDD
Citation
Ruihao Zhou, Li He, Hong Zhang, Xubin Lin, Yisheng Guan. NDD: A 3D Point Cloud Descriptor Based on Normal Distribution for Loop Closure Detection. IROS 2022.