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PAL: Panoramic Annular Localizer

This repository implements the panoramic visual localization algorithm.

schematics of Panoramic Annular Localizer

If you use this code or dataset, please cite the following paper.

R. Cheng et al., "Panoramic Annular Localizer: Tackling the Variation Challenges of Outdoor Localization Using Panoramic Annular Images and Active Deep Descriptors," 2019 IEEE Intelligent Transportation Systems Conference (ITSC), Auckland, New Zealand, 2019, pp. 920-925. doi: 10.1109/ITSC.2019.8917508

Dataset

Yuquan dataset (with panoramic images) used in the paper can be downloaded here.

Code

The descriptor extraction (NetVLAD of panorama) is here.

The sequence matching of PAL is here.

The evaluation script is evaluation.py.

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Panoramic Annular Localizer: Tackling the Variation Challenges of Outdoor Localization Using Panoramic Annular Images and Active Deep Descriptors

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