HSC

code for paper "HSC: a multi-hierarchy descriptor for loop closure detection in overhead occlusion scenes"

version 2024-08-12

What is HSC?

HSC is a new method for loop closure detection in overhead occlusion scenes.

It's based on Scan Context.

Code structure

HSC
├─config                                    // Parameter settings
│      parameter.yaml
│
├─include                                   // Header files
│      HSC.h
│      KDTreeVectorOfVectorsAdaptor.h
│      nanoflann.hpp
│      tictoc.h
│
├─result                                    // folder for result
│      KITTI05
│
├─src                                       // source code
│      HSC.cpp
│      main.cpp
│
│  CMakeLists.txt                           // cmake file
│  README.md

Dependency

• PCL
• Eigen
• yaml-cpp

How to use?

1.install the code

git clone https://github.com/LMay001/HSC.git
cd HSC

2.Modify main.cpp

// Modify it to your path
std::string config_path = "/home/XXX/HSC/config/parameter.yaml";

3.Build the code

mkdir build && cd build
cmake ..
make

4.Modify the configuration file

Seq:
  Sequence: your_sequence  # Modify it to your sequence (KITTI00,KITTI02,KITTI05,KITTTI08)

Path:
  Raw_Path: "your_path" # Folder path for point cloud bin files ("/home/XXX/data/raw/")
  Result_Path: "your_path" # Path for result file ("/home/XXX/HSC/result/")

5.Run the code

cd build
./hsc

Data

The KITTI dataset can be downloaded at KITTI. The NCLT dataset can be downloaded at NCLT. The JLU campus dataset can be downloaded at JLU.

Paper

Thank you for citing HSC if you use any of this code.

@article{lv2024hsc,
  title={HSC: a multi-hierarchy descriptor for loop closure detection in overhead occlusion scenes},
  author={Lv, Weilong and Zhou, Wei and Wang, Gang},
  journal={Complex \& Intelligent Systems},
  pages={1--25},
  year={2024},
  publisher={Springer}
}