loop-closure-detection 开源项目推荐（24 个）

PRBonn /OverlapNet

OverlapNet - Loop Closing for 3D LiDAR-based SLAM (chen2020rss)

kxhit /awesome-point-cloud-place-recognition

A list of papers about point cloud based place recognition, also known as loop closure detection in SLAM (processing)

amaralibey /MixVPR

MixVPR: Feature Mixing for Visual Place Recognition (WACV 2023)

haomo-ai /OverlapTransformer

[RAL & ESI Highly Cited 🏆] OverlapTransformer: An Efficient and Yaw-Angle-Invariant Transformer Network for LiDAR-Based Place Recognition

Lu-Feng /SelaVPR

Official repository for the ICLR 2024 paper "Towards Seamless Adaptation of Pre-trained Models for Visual Place Recognition".

Lu-Feng /CricaVPR

Official repository for the CVPR 2024 paper "CricaVPR: Cross-image Correlation-aware Representation Learning for Visual Place Recognition".

ShiPC-AI /LPR-Survey

[CSUR 2024] LiDAR-based Place Recognition For Autonomous Driving: A Survey

z014xw /Awesome_visual_place_recognition_datasets

A curated list of Visual Place Recognition (VPR)/ loop closure detection (LCD) datasets

nubot-nudt /LCR-Net

[TRO] Fast and Accurate Deep Loop Closing and Relocalization for Reliable LiDAR SLAM

BIT-MJY /CVTNet

[TII 2023] 一种用于自动驾驶环境中基于 LiDAR 的地点识别的跨视角 Transformer 网络。

sair-lab /AirLoop

[ICRA 2022] Lifelong Loop Closure Detection

Lu-Feng /DHE-VPR

Official repository for the AAAI 2024 paper "Deep Homography Estimation for Visual Place Recognition".

jarvisyjw /GV-Bench

[IROS2024] GV-Bench: A geometric verification benchmark targeting long-term loop closure detection.

z014xw /KITTI_GroundTruth

Ground Truth of KITTI dataset (odometry benchmark) for loop closure detection or visual place recognition

jagennath-hari /multi-camera-superpoint-SLAM

Graph based SLAM for multiple cameras using SuperPoint feature detector

Lu-Feng /ImAge

Official repository for the NeurIPS 2025 paper "Towards Implicit Aggregation: Robust Image Representation for Place Recognition in the Transformer Era".

Lu-Feng /SelaVPRplusplus

Official repository for the T-PAMI 2025 paper "SelaVPR++: Towards Seamless Adaptation of Foundation Models for Efficient Place Recognition".

HyeonJaeGil /loop-closure-toolbox

Loop closure Detection Toolbox with C++ and Python interface (DBoW3 and VLAD supported)

HaoshengChen /Dynamic-Scenes

Dynamic Scenes Dataset for Visual Loop Closure Detection

LTU-RAI /InLiER

Learning-Free Heterogeneous LiDAR Place Recognition via Intermediate Mixed-Radix Structural Keypoint Tokenization, published @ RA-L'26