FLIRTLib - Fast Laser Interest Region Transform Library

What's FLIRTLib?

FLIRTLib implements the Fast Laser Interest Region Transform introduced by Tipaldi and Arras. The library implements four different multi-scale feature detectors and two feature descriptors for 2D range data. It is written in C++ and comes with an API reference (written using Doxygen) and a set of example binaries to visualize the detector results and the descriptors, as well as perform scan to scan matching.


The library implements the following detectors: range, normal edge, normal blob and curvature. All detectors apply the scale-space theory (see References) to the range data. The first three detectors apply the theory to the monodimensional signal defined by the laser scanner, while the last one applies the theory to the continuous geodesic coordinate of the curve that better approximate the point cloud.



The source code can be download from .

The archive has the following structure:

The src/ directory has the following structure:


Download the library according to Download. The library relies on cmake to generate the Makefiles.

Go to the src/ directory. Run

cmake . 



For a more verbose output do Run

VERBOSE=1 cmake . 


VERBOSE=1 make 

The software depends on the following external libraries


The library comes with some demo binaries and an API interface.


The binaries are compiled out of the source and are available in


. They consists in the following binaries

Using the library

The library is compiled as a collection of shared objects and are available in


(32-bit) or


(64-bit). The header files are located in the respective directory in the src tree. See the class list on the doxygen documentation for a more detailed API reference. A pdf version of the reference manual is available here.



FLIRTLib Copyright (c) 2010 Gian Diego Tipaldi and Kai O. Arras

This software is licensed under the "Creative Commons License (Attribution-NonCommercial-ShareAlike 3.0)" and is copyrighted by Gian Diego Tipaldi and Kai O. Arras

Creative Commons License
This work is licensed under a Creative Commons Attribution-Noncommercial-Share Alike 3.0 Unported License.

FLIRTLib is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.

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Author(s): Bhaskara Marthi, Gian Diego Tipaldi
autogenerated on Fri Jan 11 11:15:28 2013