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mola_sm_loop_closure

  • Software
  • Navigation and mapping
  • Tool

An offline loop-closure engine that corrects keyframe poses in MOLA simplemap files by detecting loops and re-optimising the map, then writes the result back to disk.

Made by The MOLA SLAM framework, Spain (checked on github.com/MOLAorg (opens in a new tab)).

Source on GitHub: github.com/MOLAorg/mola_sm_loop_closure (opens in a new tab). Facts read at commit 34f9b65 (opens in a new tab).

Licenses

Code
GPL-3.0-only (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (GPL-3.0-only) at commit 34f9b65 (opens in a new tab), on 16 Oct 2026.

Commercial use
Yes

Copyleft: Modified source must be published.

What it does

  • Offers two algorithms: SimplemapLoopClosure for long maps with drift, grouping keyframes into submaps and running point-cloud ICP between them.
  • FrameToFrameLoopClosure runs frame-to-frame ICP with a GNC graph optimizer, suited to GNSS-augmented datasets or quick re-optimisation.
  • Ships YAML pipelines for 3-D LiDAR (GICP and ICP), 2-D LiDAR and frame-to-frame 3-D LiDAR GICP.
  • Optional planar-world constraints, GNSS factors with uncertainty thresholds, and IMU gravity-alignment factors can be enabled in the YAML.
  • Manual loop constraints can be specified by UNIX timestamp pairs, optionally trusted as inliers.
  • Optional KISS-Matcher global registration can seed the ICP initial guess for loop candidates.

Written by Robotheca from the project's README (opens in a new tab) at commit 34f9b65.

Getting started

Difficulty
Advanced

Maintenance

Status
Active: a commit in the last 90 days
Newest commit
15 Oct 2026 on develop
Latest release
mola_sm_loop_closure 1.3.0 (1 Oct 2026)

Checked on GitHub on 16 Oct 2026.

Links

Robots that can run it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.