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59 search results found

Patch Netvlad ⭐ 459

Code for the CVPR2021 paper "Patch-NetVLAD: Multi-Scale Fusion of Locally-Global Descriptors for Place Recognition"

Sc Lio Sam ⭐ 444

LiDAR-inertial SLAM: Scan Context + LIO-SAM

University1652 Baseline ⭐ 402

ACM Multimedia2020 University-1652: A Multi-view Multi-source Benchmark for Drone-based Geo-localization 🚁 annotates 1652 buildings in 72 universities around the world.

Imaging_lidar_place_recognition ⭐ 325

ICRA 2021 - Robust Place Recognition using an Imaging Lidar

Awesome Point Cloud Place Recognition ⭐ 318

A list of papers about point cloud based place recognition, also known as loop closure detection in SLAM (processing)

Official Code Repository for AnyLoc

Sc Lego Loam ⭐ 256

LiDAR SLAM: Scan Context + LeGO-LOAM

Place Recognition Using Autoencoders And Nn ⭐ 250

Place recognition with WiFi fingerprints using Autoencoders and Neural Networks

Cosplace ⭐ 222

Official code for CVPR 2022 paper "Rethinking Visual Geo-localization for Large-Scale Applications"

A 3D point cloud descriptor for place recognition

Pointnetvlad ⭐ 184

PointNetVLAD: Deep Point Cloud Based Retrieval for Large-Scale Place Recognition, CVPR 2018

Openibl ⭐ 162

[ECCV-2020 (spotlight)] Self-supervising Fine-grained Region Similarities for Large-scale Image Localization. 🌏 PyTorch open-source toolbox for image-based localization (place recognition).

Map Based Visual Localization ⭐ 122

A general framework for map-based visual localization. It contains 1) Map Generation which support traditional features or deeplearning features. 2) Hierarchical-Localizationvisual in visual(points or line) map. 3)Fusion framework with IMU, wheel odom and GPS sensors.

Sc A Loam ⭐ 119

Robust LiDAR SLAM with a versatile plug-and-play loop closing and pose-graph optimization.

Deep Visual Geo Localization Benchmark ⭐ 117

Official code for CVPR 2022 (Oral) paper "Deep Visual Geo-localization Benchmark"

MixVPR: Feature Mixing for Visual Place Recognition (WACV 2023)

Convolutional Autoencoder for Loop Closure

Minkloc3d ⭐ 78

MinkLoc3D: Point Cloud Based Large-Scale Place Recognition

Deepseqslam ⭐ 76

The Official Deep Learning Framework for Robot Place Learning

Intelligent place recognition module for vins-fusion

Minklocmultimodal ⭐ 73

MinkLoc++: Lidar and Monocular Image Fusion for Place Recognition

Logg3d Net ⭐ 73

[ICRA 2022] The official repository for "LoGG3D-Net: Locally Guided Global Descriptor Learning for 3D Place Recognition", In 2022 International Conference on Robotics and Automation (ICRA), pp. 2215-2221.

Vpr Datasets Downloader ⭐ 57

Automatic download VPR datasets in a standard format

Wild Places ⭐ 51

[ICRA2023] The official repository for paper "Wild-Places: A Large-Scale Dataset for Lidar Place Recognition in Unstructured Natural Environments" To appear in 2023 IEEE International Conference on Robotics and Automation (ICRA)

Placerecognition Loopdetection ⭐ 44

Light-weight place recognition and loop detection using road markings

Code for the RA-L (ICRA) 2021 paper "SeqNet: Learning Descriptors for Sequence-Based Hierarchical Place Recognition"

Zero Shot Indoor Localization Release ⭐ 41

The official code and datasets for "Zero-Shot Multi-View Indoor Localization via Graph Location Networks" (ACMMM 2020)

So_dso_place_recognition ⭐ 41

A Fast and Robust Place Recognition Approach for Stereo Visual Odometry using LiDAR Descriptors

Minkloc3dv2 ⭐ 41

MinkLoc3Dv2: Improving Point Cloud Based Place Recognition with Ranking-based Loss and Large Batch Training

Vpr Methods Evaluation ⭐ 41

Easily download and evaluate pre-trained Visual Place Recognition methods. Code built for the ICCV 2023 paper "EigenPlaces: Training Viewpoint Robust Models for Visual Place Recognition"

Seqmatchnet ⭐ 40

Code for the CoRL 2021 paper "SeqMatchNet: Contrastive Learning with Sequence Matching for Place Recognition \& Relocalization"

LPD-Net: 3D Point Cloud Learning for Large-Scale Place Recognition and Environment Analysis, ICCV 2019, Seoul, Korea

Navtech Radar Slam ⭐ 38

Radar SLAM: yeti radar odometry + scan context

Official PyTorch implementation of paper "A Hybrid Compact Neural Architecture for Visual Place Recognition" by M. Chancán (RA-L & ICRA 2020) https://doi.org/10.1109/LRA.2020.2967324

Code for our IEEE RAL + ICRA 2022 paper "Spiking Neural Networks for Visual Place Recognition via Weighted Neuronal Assignments", and our ICRA2023 paper "Ensembles of Compact, Region-specific & Regularized Spiking Neural Networks for Scalable Place Recognition"

Fast_lio_slam ⭐ 36

LiDAR SLAM = FAST-LIO + Scan Context

Place Recognition ⭐ 31

Visual Place Recognition implemented in PyTorch

[IEEE RA-L 2024] LCPR: A Multi-Scale Attention-Based LiDAR-Camera Fusion Network for Place Recognition

Vg Transformers ⭐ 28

Official Repository of "Learning Sequential Descriptors for Sequence-based Visual Place Recognition "

Deltadescriptors ⭐ 25

Delta Descriptors: Visual Localization via Visual Place Recognition (VPR) where places are described using a change-based spatio-temporal representation. (RA-L & IROS 2020)

Kitti_groundtruth ⭐ 23

Ground Truth of KITTI dataset (odometry benchmark) for loop closure detection or visual place recognition

Uncertainty Lpr ⭐ 22

📣 [IEEE IROS 2023] Official Repository of IROS 23 paper "Uncertainty-Aware Lidar Place Recognition in Novel Environments"

InCloud: Incremental Learning for Point Cloud Place Recognition IROS2022 https://arxiv.org/abs/2203.00807

Spectralgv ⭐ 19

[RA-L 2023] Official Repository of "Spectral Geometric Verification: Re-Ranking Point Cloud Retrieval for Metric Localization", RA-L, Volume 8, Issue 5, May 2023

Helipr File Player ⭐ 19

This is the repository for HeLiPR file player.

Coarsehash ⭐ 13

Benchmark datasets used in ICRA 2020 paper: Fast, Compact and Highly Scalable Visual Place Recognition through Sequence-based Matching of Overloaded Representations

Place Recognition Db ⭐ 13

Tool for creating optimally sized databases (containing the minimum number of frames covering the scene) for place recognition task from RGBD and LiDAR data

Scancontext Pybind ⭐ 12

LiDAR place recognition. For fast python support.

Patchaugnet ⭐ 12

PatchAugNet: Patch feature augmentation-based heterogeneous point cloud place recognition in large-scale street scenes

This repository contains the code implementation used in the paper "Locus: LiDAR-based Place Recognition using Spatiotemporal Higher-Order Pooling". Accepted for ICRA 2021.

Crossloc3d ⭐ 11

CrossLoc3D: Aerial-Ground Cross-Source 3D Place Recognition -- ICCV 2023

Citylearn ⭐ 10

Official implementation for the paper "CityLearn: Diverse Real-World Environments for Sample-Efficient Navigation Policy Learning" (ICRA2020)

Self-supervised place recognition by exploring temporal and feature neighborhoods

Radarloc ⭐ 10

RadarLoc: Large-Scale Topological Radar Localization Using Learned Descriptors

Loop Closure Toolbox ⭐ 9

Loop closure Detection Toolbox with C++ and Python interface (DBoW3 and VLAD supported)

EgoNN: Egocentric Neural Network for Point Cloud Based 6DoF Relocalization at the City Scale

Learningtosynchronizevideos ⭐ 5

Implementation of our Video Synchronization paper in TensorFlow (ICMLA 2017)

Minkloc3d Si ⭐ 5

MinkLoc3D-SI: 3D LiDAR place recognition with sparse convolutions,spherical coordinates, and intensity

Why So Deep ⭐ 5

Why-So-Deep: Towards Boosting Previously Trained Models for Visual Place Recognition (MAQBOOL)

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