AirLoop: Lifelong Loop Closure Detection

This repo contains the source code for paper:

Dasong Gao, Chen Wang, Sebastian Scherer. “AirLoop: Lifelong Loop Closure Detection.” arXiv preprint arXiv:2109.08975 (2021).

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Demo

Examples of loop closure detection on each dataset. Note that our model is able to handle cross-environment loop closure detection despite only trained in individual environments sequentially:

Improved loop closure detection on TartanAir after extended training:

Usage

Dependencies