** LIBGeFP -- Geometrical FLIRT Phrases for Large Scale Place Recognition in 2D Range Data ** G.D. Tipaldi, L.Spinello, W. Burgard -- Int. Conf. Robotics and Automation (ICRA) 2013 ** coded: L. Spinello 2013 Why are Geometrical FLIRT Phrases useful? ========================================= Place recognition, i.e., the problem of recognizing if the robot is navigating in an already visited place, is a fundamental problem in mobile robot navigation. Efficient solutions to this problem are relevant for effectively localizing robots and for creating maps in real time. Relatively few methods have been proposed to efficiently solve this problem in very large environments using 2D range data. In this paper, we introduce geometrical FLIRT phrases (GFPs) as a novel retrieval method for very efficient and precise place recognition. GFPs perform approximate 2D range data matching, have low computational cost, can handle complicated partial matching patterns and are robust to noise. Experiments carried out with publicly available datasets demonstrate that GFPs largely outperform state-of-theart approaches in 2D range-based place recognition in terms of efficiency and recall. We obtain retrieval performances with more than 85% recall at 99% precision in less than a second, even on data sets obtained from several kilometer long runs. see the <a href="http://www.informatik.uni-freiburg.de/~spinello/tipaldiICRA13.pdf">paper</a> Installation ========================================= Download the library. The library relies on cmake to generate the Makefiles. Go to the root directory of your project and run $ mkdir build $ cd build $ cmake .. $ make Binaries are generated in build/bin and build/lib Library can be installed in your system by running $ make install The software depends on the following external libraries Boost >= 1.4 (special_functions/binomial) How to cite LIBGeFP ========================================= "Geometrical FLIRT Phrases for Large Scale Place Recognition in 2D Range Data", G. D. Tipaldi, L. Spinello, W. Burgard -- Int. Conf. Robotics and Automation (ICRA) 2013 License ========================================= GFP LIBGeFP Copyright (c) 2013 Luciano Spinello, licensed under GPL ver. 2.0 GFP is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. GFP is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with GFP. If not, see <http://www.gnu.org/licenses/>. */