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A place recognition algorithm with CNN feature extraction for scene matching and description to handle perception, appearance changes.

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parthkvv/Robust-Visual-Place-Recognition

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Fast-SeqSLAM-reproducible/dataset/UofA_dataset/day_evening/day

Fast-SeqSLAM-reproducible/dataset/UofA_dataset/day_evening/day

 
 

demo

demo

 
 

draw_features

draw_features

 
 

fast_seqSlam

fast_seqSlam

 
 

flann

flann

 
 

graphs

graphs

 
 

problems that may arise.txt

problems that may arise.txt

 
 

readme.md

readme.md

 
 

script.py

script.py

 
 

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I used Flann libray for the Approximate nearest neighbour calculation. didn't implement the matching computation in the doFindMatchesModifed parallely so it may take longer time than the original seqSlam implementation which has implemented matching computation parallely

Tests

  • Matlab 8.5.0.197613 (R2015a)
  • 64-bit
  • Ubuntu 14.04.5
>> cd demo
>> demo

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A place recognition algorithm with CNN feature extraction for scene matching and description to handle perception, appearance changes.

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