About

MATLAB code of our ICCV 2019 paper:

"Scalable Place Recognition Under Appearance Change for Autonomous Driving" - ICCV 2019, Anh-Dzung Doan, Yasir Latif, Tat-Jun Chin, Yu Liu, Thanh-Toan Do, and Ian Reid. [pdf]

If you use/adapt our code, please kindly cite our paper.

Dependencies

• yael library (http://yael.gforge.inria.fr/)
• FLANN library (https://github.com/mariusmuja/flann)

We included, compiled and tested all 3rd-party libraries on MATLAB R2018a, Ubuntu 16.04 LTS 64 bit

Dataset

• For precomputed features, please download work_dir.zip from here and unzip it to the source code's directory.

Localization

• Run doPR.m.m to perform place recognition.

• If you want to perform graph compression, please change update_params.do_cull and update_params.do_combine to true

Support

If you have any questions, feel free to contact me