Online Place Recognition by Graph-Based Matching of Image Sequences by Olga Vysotska and Cyrill Stachniss

Online Place Recognition 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 hypothesis for the previous images. The matching procedure can be perfomed in two modes: feature based and cost matrix based mode. For more theoretical details, please refer to our paper Lazy data association for image sequence matching under substantial appearance changes.

This code is related to the following publication:
O. Vysotska and C. Stachniss, “Lazy Data Association For Image Sequences Matching Under Substantial Appearance Changes,” IEEE Robotics and Automation Letters (RA-L)and IEEE International Conference on Robotics & Automation (ICRA), vol. 1, iss. 1, pp. 1-8, 2016. doi:10.1109/LRA.2015.2512936.