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This is a Python port of Niko Sünderhauf's OpenSeqSLAM code.

SeqSLAM performs place recognition by matching sequences of images.

Quick start:

  • Download the Nordland dataset:

    cd datasets/norland; ./getDataset.bash;

  • Run demo:

    cd pyseqslam
python demo.py

    (This will match the spring sequence of the nordland dataset against the winter sequence. To change which datasets are used, set the environment variables DATASET_1_PATH and DATASET_2_PATH)

[1] Michael Milford and Gordon F. Wyeth (2012). SeqSLAM: Visual Route-Based Navigation for Sunny Summer Days and Stormy Winter Nights. In Proc. of IEEE Intl. Conf. on Robotics and Automation (ICRA)