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GRAVEYARD

This package is currently in the graveyard until it is ported to work with the new visual odometry libraries. It and its dependencies can be checked out from:

https://code.ros.org/svn/wg-ros-pkg/graveyard/

Data files

The place_recognition and visual_odometry packages are research code; apologies if they are difficult to work with in their current form.

To use this package you will need a vocabulary tree trained on a large dataset of images. We have one here: http://vault.willowgarage.com/wgdata1/vol1/jbowman/holidays.tree

This tree was trained on the C-descriptors devised by Michael Calonder (calonder_descriptor). This descriptor has its own training stage which produces a random forest classifier. The classifier used to generate the above tree is available in two ways:

Tutorials

Links to relevant tutorials


2022-05-28 12:51