Visual Place Recognition using Hashing by Olga Vysotska and Cyrill Stachniss

Localization system 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 hypotheses for the previous images. The matching procedure can be performed in two modes: feature based and cost matrix based mode. The new version using an own hashing approach to quickly relocalize.

This code is related to the following publications:
O. Vysotska and C. Stachniss, “Relocalization under Substantial Appearance Changes using Hashing,” in Proc. of the 9th Workshop on Planning, Perception, and Navigation for Intelligent Vehicles at the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2017.