{"id":18683123,"url":"https://github.com/wh200720041/srlcd","last_synced_at":"2025-04-12T04:31:26.070Z","repository":{"id":82994121,"uuid":"241002133","full_name":"wh200720041/SRLCD","owner":"wh200720041","description":"fast loop closure detection (online visual place recognition) via saliency re-identification IROS 2020","archived":false,"fork":false,"pushed_at":"2021-03-13T12:59:49.000Z","size":6586,"stargazers_count":98,"open_issues_count":3,"forks_count":17,"subscribers_count":5,"default_branch":"master","last_synced_at":"2025-03-26T00:02:50.602Z","etag":null,"topics":["localization","loop","recognition","slam"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"gpl-3.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/wh200720041.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2020-02-17T02:17:37.000Z","updated_at":"2025-02-13T11:11:04.000Z","dependencies_parsed_at":null,"dependency_job_id":"ae29ea6a-d446-4d1e-8ffa-12e407d706fa","html_url":"https://github.com/wh200720041/SRLCD","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/wh200720041%2FSRLCD","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/wh200720041%2FSRLCD/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/wh200720041%2FSRLCD/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/wh200720041%2FSRLCD/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/wh200720041","download_url":"https://codeload.github.com/wh200720041/SRLCD/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":248517154,"owners_count":21117399,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["localization","loop","recognition","slam"],"created_at":"2024-11-07T10:13:50.671Z","updated_at":"2025-04-12T04:31:26.064Z","avatar_url":"https://github.com/wh200720041.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# SRLCD\nOnline Visual Place Recognition via Saliency Re-identification IROS 2020\n\n**Author:** [Wang Han](http://wanghan.pro), Nanyang Technological University, Singapore\n\nComparison approach can be found at https://github.com/wh200720041/VRP_Comparison\n\n\n## 1. Evaluation\n### 1.1. Example on public dataset (KITTI dataset, TUM dataset, Oxford RobotCar dataset)\n\u003cp align='center'\u003e\n\u003cimg src=\"https://github.com/wh200720041/SRLCD/blob/master/img/detection_examples.png\"/\u003e\n\u003c/p\u003e\n\n### 1.2. Performance Evaluation\n\u003cp align='center'\u003e\n\u003cimg src=\"https://github.com/wh200720041/SRLCD/blob/master/img/precision_recall.png\" width = 45% /\u003e\n\u003c/p\u003e\n\n### 1.3. Comparison\n\u003cp align='center'\u003e\n\u003cimg src=\"https://github.com/wh200720041/SRLCD/blob/master/img/metrics_comparison.png\" width = 60% /\u003e\n\u003c/p\u003e\n\n\n## 2. Prerequisites\n\n### 2.1 **Platform**\nMicrosoft Visual Studio 2017\n\n### 2.2 **Opencv**\n\nFollow [Opencv installation](https://www.learnopencv.com/install-opencv3-on-windows/).\n\n### 2.3. Eigen\nFollow [Eigen Installation](https://eigen.tuxfamily.org/dox/GettingStarted.html).\n\n## 3. Citation\nIf you use this work for your research, you may want to cite\n```\n@inproceedings{wang2020online,\n  author={H. {Wang} and C. {Wang} and L. {Xie}},\n  booktitle={2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, \n  title={Online Visual Place Recognition via Saliency Re-identification}, \n  year={2020},\n  volume={},\n  number={},\n  pages={5030-5036},\n  doi={10.1109/IROS45743.2020.9341703}\n}\n```\n\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fwh200720041%2Fsrlcd","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fwh200720041%2Fsrlcd","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fwh200720041%2Fsrlcd/lists"}