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DIRD based Place Recognition Library





Introduction

This website presents DIRD based place recognition as it is presented in our publication (see below). Source code and datasets are made freely available and can be downloaded further down below. DIRD feature vectors are extracted for every image of a given sequence. Thereafter pairs of images are automatically found that belong to the same place. The method is very robust against illumination changes.
This library can be used for loop closure detection in visual SLAM. It is written in C++, is self contained, easy to compile using CMake, runs on Linux and Windows and includes MATLAB wrappers as well as sample datasets. Moreover, the feature extraction is very fast (approx. 7ms on a single core). Place recognition is fast using SSE intrinsics. It is ready to use: No codebooks or the like are needed beforehand.

Using this Code as part of your Software

The code is published under the GNU General Public License.

Downloads

  • The source code can be downloaded here: libDird.zip [1MB]
  • This is the first dataset: threefold.zip [1.9GB]
  • This is the second dataset: twofold.zip [6.5GB]
  • Here the visual odometry test suite of the KITTI dataset can be downloaded. Our source code contains a readme.txt with instructions of how to use the KITTI dataset for place recognition.
    KITTI dataset: KITTI data
    KITTI website: KITTI

Publication

If you use this software in your research we kindly ask you to cite our work:

    @inproceedings{lategahn2013HowTo, 
    Address = {Gold Coast, Australia}, 
    Author = {Lategahn, H. and Beck, J. and Kitt, B. and Stiller, C.}, 
    Booktitle = {IEEE Intelligent Vehicles Symposium}, 
    Title = {How to Learn an Illumination Robust Image Feature for Place Recognition}, 
    Year = {2013}}
  
The paper can be downloaded here: How to Learn an Illumination Robust Image Feature for Place Recognition

Disclaimer

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Authors

Henning Lategahn
Johannes Beck
Bernd Kitt
If you have comments, bugreports or feedback please send it to:
henning.lategahn@kit.edu