SeGraM

SeGraM: Semantic Graph Matching based Indoor Loop Closure Detection

Dataset

The dataset is available at: dataset_scenenet_209

The dataset path should be modified in this line: dataset_path
A folder named 'on_scenenet_209' needs to be newed in the current location. (or use another name of the folder and change this line: result_path)

Assume the current directory is the root of this repository.

Run

$ python SeGraM.py

Evaluate

$ python analyze-scenenet-209.py