Siamese Convolutional Neural Network Topology for Loop Closure Detection in Mobile Robotics

The repository contains a deep learning model for loop closure detection, written in Tensorflow 2.

If you use the code, please, credit the author, preferably with a link to their website lina.ms

Requirements

To execute this code, you will need:

Python 3
Tensorflow 2
Pylab
SciKit-Image
OpenCV
random
base64
math
sys
os

Datasets

https://www.robots.ox.ac.uk/~mobile/IJRR_2008_Dataset/data.html

Disclaimer

The author bears no responsibility if this code or any part thereof breaks your computer or your dreams.