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rpng / calc

Convolutional Autoencoder for Loop Closure
BSD 3-Clause "New" or "Revised" License
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what is the dataset you use in the ros online demo #2

Closed zqnnn closed 6 years ago

zqnnn commented 6 years ago

what is the pos_topic

nmerrill67 commented 6 years ago

Good question. I made a custom publisher for KITTI data. There is a python script that does it here. The EuRO MAV datasets also work out of the box with that demo, and I also have another python script to publish the New College Dataset in the right format. The online demo needs an Image topic as well as a topic with trajectories either as a TransformStamped or PoseStamped topic.

zqnnn commented 6 years ago

Thanks! Another question,please. What is the training dataset used by the calc caffemodel?

nmerrill67 commented 6 years ago

We use the MIT Places dataset. Please see http://arxiv.org/abs/1805.07703