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What is ISCLOAM?#

  • ISCLOAM presents a robust loop closure detection approach by integrating both geometry and intensity information.

Repository Information#

Required Sensors#

  • LIDAR [Velodyne]

ROS Compatibility#

  • ROS 1


For visualization purpose, this package uses hector trajectory sever, you may install the package by

sudo apt-get install ros-melodic-hector-trajectory-server

Build and Run#

1. Clone repository#

cd ~/catkin_ws/src
git clone
cd ..
catkin_make -j1
source ~/catkin_ws/devel/setup.bash

2. Set Parameter#

Change the bag location and sensor parameters on launch files.

3. Launch#

roslaunch iscloam iscloam.launch

if you would like to generate the map of environment at the same time, you can run

roslaunch iscloam iscloam_mapping.launch

Note that the global map can be very large, so it may takes a while to perform global optimization, some lag is expected between trajectory and map since they are running in separate thread. More CPU usage will happen when loop closure is identified.

Example Result#

Watch demo video at Video Link

Ground Truth Comparison#

Green: ISCLOAM Red: Ground Truth

                  KITTI sequence 00                                  KITTI sequence 05


If you use this work for your research, you may want to cite the paper below, your citation will be appreciated

  author={H. {Wang} and C. {Wang} and L. {Xie}},
  booktitle={2020 IEEE International Conference on Robotics and Automation (ICRA)},
  title={Intensity Scan Context: Coding Intensity and Geometry Relations for Loop Closure Detection},


Thanks for A-LOAM and LOAM(J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time) and LOAM_NOTED.

Author: Wang Han, Nanyang Technological University, Singapore