OpenSeqSLAM2.0: An Open Source Toolbox for Visual Place Recognition under Changing Conditions

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dc.contributor.authorTalbot, B.
dc.contributor.authorGarg, S.
dc.contributor.authorMilford, M.
dc.contributor.conferenceIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (1 Oct 2018 - 5 Oct 2018 : Madrid, Spain)
dc.contributor.editorMaciejewski, A.A.
dc.contributor.editorOkamura, A.
dc.contributor.editorBicchi, A.
dc.contributor.editorStachniss, C.
dc.contributor.editorSong, D.Z.
dc.contributor.editorLee, D.H.
dc.contributor.editorChaumette, F.
dc.contributor.editorDing, H.
dc.contributor.editorLi, J.S.
dc.contributor.editorWen, J.
dc.contributor.editorRoberts, J.
dc.contributor.editorMasamune, K.
dc.contributor.editorChong, N.Y.
dc.contributor.editorAmato, N.
dc.contributor.editorTsagwarakis, N.
dc.contributor.editorRocco, P.
dc.contributor.editorAsfour, T.
dc.contributor.editorChung, W.K.
dc.contributor.editorYasuyoshi, Y.
dc.contributor.editorSun, Y.
dc.contributor.editorMaciekeski, T.
dc.contributor.editorAlthoefer, K.
dc.contributor.editorAndradeCetto, J.
dc.contributor.editorChung, W.K.
dc.contributor.editorDemircan, E.
dc.contributor.editorDias, J.
dc.contributor.editorFraisse, P.
dc.contributor.editorGross, R.
dc.contributor.editorHarada, H.
dc.contributor.editorHasegawa, Y.
dc.contributor.editorHayashibe, M.
dc.contributor.editorKiguchi, K.
dc.contributor.editorKim, K.
dc.contributor.editorKroeger, T.
dc.contributor.editorLi, Y.
dc.contributor.editorMa, S.
dc.contributor.editorMochiyama, H.
dc.contributor.editorMonje, C.A.
dc.contributor.editorRekleitis, I.
dc.contributor.editorRoberts, R.
dc.contributor.editorStulp, F.
dc.contributor.editorTsai, C.H.D.
dc.contributor.editorZollo, L.
dc.date.issued2019
dc.description.abstractVisually recognising a traversed route — regardless of whether seen during the day or night, in clear or inclement conditions, or in summer or winter — is an important capability for navigating robots. Since SeqSLAM was introduced in 2012, a large body of work has followed exploring how robotic systems can use the algorithm to meet the challenges posed by navigation in changing environmental conditions. The following paper describes OpenSeqSLAM2.0, a fully open-source toolbox for visual place recognition under changing conditions. Beyond the benefits of open access to the source code, OpenSeqSLAM2.0 provides a number of tools to facilitate exploration of the visual place recognition problem and interactive parameter tuning. Using the new open source platform, it is shown for the first time how comprehensive parameter characterisations provide new insights into many of the system components previously presented in ad hoc ways and provide users with a guide to what system component options should be used under what circumstances and why.
dc.description.statementofresponsibilityBen Talbot, Sourav Garg, and Michael Milford
dc.identifier.citationProceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019 / Maciejewski, A.A., Okamura, A., Bicchi, A., Stachniss, C., Song, D.Z., Lee, D.H., Chaumette, F., Ding, H., Li, J.S., Wen, J., Roberts, J., Masamune, K., Chong, N.Y., Amato, N., Tsagwarakis, N., Rocco, P., Asfour, T., Chung, W.K., Yasuyoshi, Y., Sun, Y., Maciekeski, T., Althoefer, K., AndradeCetto, J., Chung, W.K., Demircan, E., Dias, J., Fraisse, P., Gross, R., Harada, H., Hasegawa, Y., Hayashibe, M., Kiguchi, K., Kim, K., Kroeger, T., Li, Y., Ma, S., Mochiyama, H., Monje, C.A., Rekleitis, I., Roberts, R., Stulp, F., Tsai, C.H.D., Zollo, L. (ed./s), pp.7758-7765
dc.identifier.doi10.1109/IROS.2018.8593761
dc.identifier.isbn9781538680940
dc.identifier.issn2153-0858
dc.identifier.issn2153-0866
dc.identifier.orcidGarg, S. [0000-0001-6068-3307]
dc.identifier.urihttps://hdl.handle.net/2440/138400
dc.language.isoen
dc.publisherIEEE
dc.publisher.placeNew York City, NY, USA
dc.relation.granthttp://purl.org/au-research/grants/arc/FT140101229
dc.relation.ispartofseriesIEEE International Conference on Intelligent Robots and Systems
dc.rights©2018 IEEE
dc.source.urihttps://ieeexplore.ieee.org/xpl/conhome/8574473/proceeding
dc.titleOpenSeqSLAM2.0: An Open Source Toolbox for Visual Place Recognition under Changing Conditions
dc.typeConference paper
pubs.publication-statusPublished

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