This is a C++ + OpenCV port of Niko Sünderhauf's OpenSeqSLAM, whose original code can be found here: http://www.tu-chemnitz.de/etit/proaut/mitarbeiter/niko.html
OpenSeqSLAM
Copyright 2013, Niko Sünderhauf Chemnitz University of Technology niko@etit.tu-chemnitz.de
OpenSeqSLAM is an open source Matlab implementation of the original SeqSLAM algorithm published by Milford and Wyeth at ICRA12 [1]. SeqSLAM performs place recognition by matching sequences of images.
Quick start guide:
- Download the Nordland dataset: cd datasets/norland; ./getDataset.bash;
- start Matlab and run demo.m from within the matlab directory
[1] Michael Milford and Gordon F. Wyeth (2012). SeqSLAM: Visual Route-Based Navigation for Sunny Summer Days and Stormy Winter Nights. In Proc. of IEEE Intl. Conf. on Robotics and Automation (ICRA)