AirLoop: Lifelong Loop Closure Detection
This repo contains the source code for paper:
Dasong Gao, Chen Wang, Sebastian Scherer. “AirLoop: Lifelong Loop Closure Detection.” arXiv preprint arXiv:2109.08975 (2021).
Demo
Examples of loop closure detection on each dataset. Note that our model is able to handle cross-environment loop closure detection despite only trained in individual environments sequentially:
Improved loop closure detection on TartanAir after extended training:
Usage
Dependencies
- Python >= 3.5
- PyTorch < 1.8
- OpenCV >= 3.4
- NumPy >= 1.19
- Matplotlib
- ConfigArgParse
- PyYAML