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Loop Closure Detection Toolbox (LCD-Toolbox)

C++ and Python interface for Loop closure Detection

This repository provides API for well-known loop closure detection modules. Currently, DBoW3 and VLAD (Vector of Locally Aggregated Descriptors) are supported. There are no Feature Extraction or Matching utilities. We provide:

  • Feature Aggregation (BoW or VLAD for now on)
  • Database Management (add + query)

So users are recommended to include this repository in their own SLAM project as a module.

How to build

C++

Simply use cmake for build, without any modification. There are two definitions, BUILD_PYBIND (default OFF) and BUILD_TEST (default ON).

mkdir build && cd build
cmake .. && cmake --build .

Python

Use pip for installation. pybind version will be built as default, if you build with command like:

pip install -e .

How to use (C++)

Please refer to test folder to check the usage of C++ version.

How to use (Python)

Please refer to python folder to check the usage of pybind version.

Citing

Codebase imported from the following:

  • Original DBoW3 repository link : slightly modified to divide declarations and definitions.
   title = {{DBoW3} DBoW3}, 
  year = 2017, 
  url = {https://github.com/rmsalinas/DBow3}, 
  urldate = {2017-02-17} 
 }
  • JPL X library link : import VLAD implementation and architecture.
@ARTICLE{Polizzi22RAL,
  author={Polizzi, Vincenzo and Hewitt, Robert and Hidalgo-Carrió, Javier and Delaune, Jeff and Scaramuzza, Davide},
  journal={IEEE Robotics and Automation Letters},   
  title={Data-Efficient Collaborative Decentralized Thermal-Inertial Odometry},   
  year={2022},  
  volume={7},  
  number={4},  
  pages={10681-10688},  
  doi={10.1109/LRA.2022.3194675}
}
  • pytlsd link : import setup.py implementation for pybind.