v2.1.0

The pipeline is now updated in accordance to our recent research paper which was accepted at the International Journal of Robotics Research (IJRR), 2026.

Key improvements:

1. New ground alignment module for consistent BEV projections upon revisit
2. Self-similarity feature pruning strategy to handle perceptual aliasing

What's Changed

• Fix bug with non-eval dataloaders by @saurabh1002 in #74
• Here come the gods by @saurabh1002 in #75
• Fix dataloaders by @saurabh1002 in #76
• Upgrade open3d minimum version by @saurabh1002 in #78
• Fix KITTI dataloader by @saurabh1002 in #80
• Updated Ground Alignment and Add Local Map-Based Evaluation of Closures by @saurabh1002 in #81
• Set Python version to 3.10 in workflow by @saurabh1002 in #87
• Check reference_id in description matches vector by @Omega3395 in #83
• Add GitHub Actions to Dependabot config by @saurabh1002 in #88
• Bump actions/checkout from 3 to 6 by @dependabot[bot] in #90
• Bump pre-commit/action from 3.0.0 to 3.0.1 by @dependabot[bot] in #91
• Bump actions/setup-python from 3 to 6 by @dependabot[bot] in #92
• Bump actions/upload-artifact from 4 to 5 by @dependabot[bot] in #89
• API consistency fix by @saurabh1002 in #95
• Bump jwlawson/actions-setup-cmake from 1.13 to 2.0 by @dependabot[bot] in #96
• Bump actions/download-artifact from 4 to 6 by @dependabot[bot] in #97
• API to only match maps to existing database (no insertion) by @saurabh1002 in #98
• Remove gt_closure_pipeline script from pyproject.toml by @saurabh1002 in #100
• Bump actions/download-artifact from 6 to 7 by @dependabot[bot] in #103
• Bump actions/cache from 4 to 5 by @dependabot[bot] in #102
• Bump actions/upload-artifact from 5 to 6 by @dependabot[bot] in #104
• Bump actions/upload-artifact from 6 to 7 by @dependabot[bot] in #109
• Bump actions/download-artifact from 7 to 8 by @dependabot[bot] in #108
• Bump jwlawson/actions-setup-cmake from 2.0 to 2.1 by @dependabot[bot] in #107
• fix comparator for std::sort, follow strict weak ordering by @saurabh1002 in #112
• Increase iterations for RANSAC to improve AVIA scanner performance by @saurabh1002 in #113
• Refactor and optimize alignment and density map code by @saurabh1002 in #114
• bump version for new release by @saurabh1002 in #115

New Contributors

• @Omega3395 made their first contribution in #83
• @dependabot[bot] made their first contribution in #90

Full Changelog: v2.0.2...v2.1.0

v2.0.2

What's Changed

• Bump kiss-icp to 1.2 by @benemer in #57
• pybind ground align api separately by @saurabh1002 in #59
• Fix Ground Alignment Indoors by @saurabh1002 in #60
• bump version for new release by @saurabh1002 in #61
• Fix OpenCV third party build by @saurabh1002 in #63
• Optimize use of STL library by @saurabh1002 in #62
• upgrade versions for sophus to avoid old cmake version errors by @saurabh1002 in #65
• Update CODEOWNERS by @saurabh1002 in #70
• Revert PR #60 by @saurabh1002 in #69
• v2.0.2 by @saurabh1002 in #71

Full Changelog: v2.0.0...v2.0.2

v2.0.0

What's Changed

• Features/ground align and pruning by @saurabh1002 in #55

Major API Breaking changes

1. No match_and_add function now!!
2. Instead, get_closures, get_best_closure and get_top_k_closures available, performing same functions as their name suggests.

The following new features are added:

1. A Ground Alignment module which aligns each local map's physical ground-plane to its xy-plane.
2. A feature pruning step based on the self-similarity of ORB feature descriptors.

The other minor changes are:

1. Modify DensityMap generation based on analysis from heaptrack. Now it allocates less useless memory.
2. Make magic numbers in code as static constexpr
3. make container sizes' types as std::size_t for windows MSVC to not complain
4. Drop pipeline for groundtruth closure computation (This will be made available later as a separate repo, and could be still used from earlier tags/versions of this repo)

Full Changelog: v1.0.1...v2.0.0

v1.0.1

NOW AVAILABLE: pip install map-closures

What's Changed

• Move the ground truth closure computation to C++ by @saurabh1002 in #32
• Add GitHub actions by @saurabh1002 in #43
• Add Git attributes by @tizianoGuadagnino in #45
• Fix for Saving Evaluation Metrics in Loop Closure Pipeline by @jlaserna in #47
• remove strict requirement on kiss-icp version by @saurabh1002 in #50
• Make into pypi package with macos and windows support by @saurabh1002 in #51
• Fixes the missing artifacts by @saurabh1002 in #53
• Gupta/fix artifacts downloading by @saurabh1002 in #54

New Contributors

• @jlaserna made their first contribution in #47

Full Changelog: v1.0.0...v1.0.1

v1.0.0

What's Changed

• Proper path for client code usage of the C++ library by @tizianoGuadagnino in #17
• Upgrade versions to match new release by @saurabh1002 in #18
• Patch cmake bug fix from KISS by @saurabh1002 in #19
• fix bug, refactor code by @saurabh1002 in #21
• Add Visualizer for the pipeline by @saurabh1002 in #22
• Cleanup python API by @saurabh1002 in #25
• Make relevant changes for kiss-icp v1.0.0 by @saurabh1002 in #26
• Add instructions to use MapClosures C++ API by @saurabh1002 in #28
• Fix bug in closure candidate indices by @saurabh1002 in #30
• Visualizer based on Polyscope by @saurabh1002 in #29
• Rework folder structure for visualizer by @saurabh1002 in #31
• add global view option to local map visualizer by @saurabh1002 in #36
• bump version by @saurabh1002 in #38

Full Changelog: v0.2.0...v1.0.0

v0.2.0

What's Changed

• alignment of parameters between languages, typo fix by @ga58lar in #4
• Clean custom types and build system by @tizianoGuadagnino in #5
• Fix runtime errors, fix typo, add dockerfile by @changh95 in #3
• Clean more, clean more, clean more by @tizianoGuadagnino in #7
• Handle no sequence id dataset (and decrease Cmake version to 3.22) by @bexcite in #8
• Update dependencies by @benemer in #9
• Do some renaming work by @saurabh1002 in #10
• Fix broken pipeline after #10 by @saurabh1002 in #11
• Try to rework the API for the CPP and python side by @tizianoGuadagnino in #12
• Disclaimer on paper results by @tizianoGuadagnino in #13
• Rework folder structure by @tizianoGuadagnino in #14
• Use typing_extensions by @benemer in #15
• make opencv fetch content-able by @mehermvr in #16

New Contributors

• @ga58lar made their first contribution in #4
• @tizianoGuadagnino made their first contribution in #5
• @changh95 made their first contribution in #3
• @bexcite made their first contribution in #8
• @benemer made their first contribution in #9
• @saurabh1002 made their first contribution in #10
• @mehermvr made their first contribution in #16

Full Changelog: v0.1.0...v0.2.0

v0.1.0

📰: BETA-release

We are releasing the code for the ICRA2024 paper titled Effectively Detecting Loop Closures using Point Cloud Density Maps.

git clone https://github.com/PRBonn/MapClosures.git
cd MapClosures
make

To get started: