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This is the optimized implementation of the combination of the two methods described described in the following paper:
1.Wang H, Wang C, Chen C L, et al. F-loam: Fast lidar odometry and mapping
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
2.Kim G, Kim A. Scan context: Egocentric spatial descriptor for place recognition within 3d point cloud map
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
And this work is modified based on Advanced implementation of F-LOAM and SC-A-LOAM by
Wang Han [email protected]
Giseop Kim [email protected]
Author of Optimized-SC-F-LOAM
Lizhou Liao
Chongqing University, Chongqing, China
Email: [email protected]
Copyright (c) 2018, Robust Field Autonomy Lab
Copyright 2013, Ji Zhang, Carnegie Mellon University
Further contributions copyright (c) 2016, Southwest Research Institute
Copyright (c) 2021, wanghan, Nanyang Technological University
All rights reserved.
Copyright (c) 2021 SlamCabbage
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
3. Neither the name of the copyright holder nor the names of its contributors
may be used to endorse or promote products derived from this software without
specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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