2017-11: Code Available: Extended Version of Visual Place Recognition using Hashing by Olga Vysotska

Visual Place Recognition using Hashing by Olga Vysotska and Cyrill Stachniss

Localization system is available on GitHub

Given two sequences of images represented by the descriptors, the code constructs a data association graph and performs a search within this graph, so that for every query image, the code computes a matching hypothesis to an image in a database sequence as well as matching hypotheses for the previous images. The matching procedure can be performed in two modes: feature based and cost matrix based mode. The new version using an own hashing approach to quickly relocalize.

This code is related to the following publications:
O. Vysotska and C. Stachniss, “Relocalization under Substantial Appearance Changes using Hashing,” in Proc. of the 9th Workshop on Planning, Perception, and Navigation for Intelligent Vehicles at the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2017.