sphericalVPR

Visual Place Recognition SeqSLAM implementation for omnidirectional images mapped on the sphere

Based on the original works of Milford et al. [1]

This short example code shows how to use LibPeR to map omnidirectional images on a spherical mesh and perform visual place recognition.

To download the example sequences, please follow the instructions available here.

Available spherical representations are the followings:

• UniphorM
• Resized squares
• Direct projection

How to use

Fill in required path in the example main.cpp file, then build the project using:

mkdir build
cd build
cmake ..
make
./main

Dependencies

• Eigen
• Boost (for file and directory handling)
• OpenCV (tested with 4.2)
• LibPeR (tested with 0.5.0)
• ViSP (tested with 3.5)

Credits

This software was developed at:
CNRS - AIST JRL (Joint Robotics Laboratory)
1-1-1 Umezono, Tsukuba, Ibaraki
Japan

This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.

Description:
Implementation of the SeqSLAM algorithm for omnidirectional images mapped on the sphere

Authors:
Antoine ANDRE, Guillaume CARON

[1] Milford, M. J., & Wyeth, G. F. (2012, May). SeqSLAM: Visual route-based navigation for sunny summer days and stormy winter nights. In 2012 IEEE international conference on robotics and automation (pp. 1643-1649). IEEE.