/loop-closure-detection

Siamese Convolutional Neural Network Topology for Loop Closure Detection in Mobile Robotics

Primary LanguageJupyter NotebookMIT LicenseMIT

Siamese Convolutional Neural Network Topology for Loop Closure Detection in Mobile Robotics

The repository contains a deep learning model for loop closure detection, written in Tensorflow 2.

If you use the code, please, credit the author, preferably with a link to their website lina.ms

Requirements

To execute this code, you will need:

  • Python 3
  • Tensorflow 2
  • Pylab
  • SciKit-Image
  • OpenCV
  • random
  • base64
  • math
  • sys
  • os

Datasets

https://www.robots.ox.ac.uk/~mobile/IJRR_2008_Dataset/data.html

Disclaimer

The author bears no responsibility if this code or any part thereof breaks your computer or your dreams.