mttgdd / pySeqSLAM

Python SeqSLAM - port of Niko Sünderhauf's OpenSeqSLAM for place recognition

This is a Python port of Niko Sünderhauf's OpenSeqSLAM code.

SeqSLAM performs place recognition by matching sequences of images.

Quick start:

• Download the Nordland dataset:

  cd datasets/norland; ./getDataset.bash;

• Run demo:

  cd pyseqslam
  python demo.py
  

  (This will match the spring sequence of the nordland dataset against the winter sequence. To change which datasets are used, set the environment variables DATASET_1_PATH and DATASET_2_PATH)

[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)