LWPR

Evaluation of light-weight place recognition approaches in changing environments in Lowry and Andreasson.

Dependencies

This code depends on the Yael library. See http://yael.gforge.inria.fr/ to download and configure with Matlab.

This demo version is designed to run with the Garden Points Walking dataset. Parameters are included in the defaultparameters.m file.

Information on downloading the Garden Points Walking dataset can be found at https://wiki.qut.edu.au/display/cyphy/Day+and+Night+with+Lateral+Pose+Change+Datasets

Running the demo

Run

preprocessdata

followed by

demo

The code used to generate the PCA basis and the vocabulary files is included in training.m in the Training folder. The training code depends on OpenCV. Update the mex_string variable in training.m with the appropriate OpenCV version.

Reference

If you use LWPR in an academic work, please cite:

@ARTICLE{8258890, 
author={S. Lowry and H. Andreasson}, 
journal={IEEE Robotics and Automation Letters}, 
title={Lightweight, Viewpoint-Invariant Visual Place Recognition in Changing Environments}, 
year={2018}, 
volume={3}, 
number={2}, 
pages={957-964}, 
doi={10.1109/LRA.2018.2793308}, 
month={April}
}

Acknowledgements

• Arren Glover for the Gardens Point Walking dataset