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
• 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 inference.py

Take a look at train_DiSCO.py and evaluate.py for more parameters

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}}