FALKOLib is a library containing keypoint detectors for the stable detection of interest points in laser measurements and two descriptors for robust associations.

Example of feature association with FALKO detector and BSC descriptors (left) and FALKO keypoint extraction in Intel-Lab dataset (right).


We tried to keep dependencies as small as possible, but you need the following libraries or tools:
  • Boost
  • Eigen 3.0
  • CMake


This code is published under the GNU General Public License.


If you find this software useful or if you use this software for your research, we would be happy if you cite the following related publications
  • F. Kallasi, D. Lodi Rizzini, and S. Caselli. Fast Keypoint Features from Laser Scanner for Robot Localization and Mapping. IEEE Robotics and Automation Letters (RA-L), 1(1):176-183, jan 2016. DOI 10.1109/LRA.2016.2517210 [DOI] [bib]
  • F. Kallasi and D. Lodi Rizzini. Efficient Loop Closure based on FALKO LIDAR Features for Online Robot Localization and Mapping. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pages 1-8, Oct. 9-14, 2016. [DOI] . [bib]