Code for DiSCO: Differentiable Scan Context with Orientation submitted in IEEE Robotics and Automation Letters with ICRA 2021
Paper is available here.
Video is available here.
- PyTorch 1.4.0 (<= 1.6.0 fft module is modified after 1.6.0)
- tensorboardX
- Cython
If you want to integrate it into ROS. We have test it on Kinetic and Melodic
python train_DiSCO.py --dataset_folder $DATASET_FOLDER
python evaluate.py --dataset_folder $DATASET_FOLDER
python evaluate.py --dataset_folder $DATASET_FOLDER
python inference.py
# infer in ros
python infer_ros.py
Take a look at train_DiSCO.py and evaluate.py for more parameters We found that our model works well in cpu, only takes 50-80ms one inference.
https://drive.google.com/file/d/1VU9OtA0Q9t0nht5GcDc_0qQ9bVEit2lP/view?usp=sharing
Code references PointNetVLAD
If you use our source code or inspired by our method, please consider citing the following:
@ARTICLE{9359460,
author={X. {Xu} and H. {Yin} and Z. {Chen} and Y. {Li} and Y. {Wang} and R. {Xiong}},
journal={IEEE Robotics and Automation Letters},
title={DiSCO: Differentiable Scan Context With Orientation},
year={2021},
volume={6},
number={2},
pages={2791-2798},
doi={10.1109/LRA.2021.3060741}}
