├── LICENSE ├── README.md ├── data ├── figs │ └── system.jpg └── pole-dataset │ ├── KITTI │ ├── kitti_label_00 │ │ ├── globalmap_gt_cluster.npz │ │ └── globalmap_gt_cluster_1.0_3.svg │ ├── kitti_label_01 │ │ ├── globalmap_gt_cluster.npz │ │ └── globalmap_gt_cluster_1.0_3.svg │ ├── kitti_label_02 │ │ ├── globalmap_gt_cluster.npz │ │ └── globalmap_gt_cluster_1.0_3.svg │ ├── kitti_label_03 │ │ ├── globalmap_gt_cluster.npz │ │ └── globalmap_gt_cluster_1.0_3.svg │ ├── kitti_label_04 │ │ ├── globalmap_gt_cluster.npz │ │ └── globalmap_gt_cluster_1.0_3.svg │ ├── kitti_label_05 │ │ ├── globalmap_gt_cluster.npz │ │ └── globalmap_gt_cluster_1.0_3.svg │ ├── kitti_label_06 │ │ ├── globalmap_gt_cluster.npz │ │ └── globalmap_gt_cluster_1.0_3.svg │ ├── kitti_label_07 │ │ ├── globalmap_gt_cluster.npz │ │ └── globalmap_gt_cluster_1.0_3.svg │ ├── kitti_label_08 │ │ ├── globalmap_gt_cluster.npz │ │ └── globalmap_gt_cluster_1.0_3.svg │ ├── kitti_label_09 │ │ ├── globalmap_gt_cluster.npz │ │ └── globalmap_gt_cluster_1.0_3.svg │ └── kitti_label_10 │ │ ├── globalmap_gt_cluster.npz │ │ └── globalmap_gt_cluster_1.0_3.svg │ ├── NCLT │ ├── globalmap_gt_cluster.npz │ └── globalmap_gt_cluster.svg │ ├── globalmap_8_0.50_0.08_108.npz │ └── globalmap_8_0.50_0.08_108.svg ├── kitti └── raw_data │ └── kitti_downloader.sh ├── model └── PoleNet ├── mulran ├── README.md └── data │ ├── kaist01 │ ├── add_noise2poses.py │ ├── calib.txt │ ├── localization_poses01_seq02asmap.txt │ ├── noisy_poses_1_0.01_0.1.txt │ └── noisy_relative_poses_1_0.01_0.1.txt │ └── kaist02 │ ├── calib.txt │ └── localization_poses02_seq02asmap.txt ├── nclt ├── README.md └── data │ └── .keep └── src ├── .gitignore ├── SalsaNext.py ├── cluster.py ├── kittidrives.py ├── kittipoles.py ├── kittiwrapper.py ├── mulranpoles.py ├── ncltpoles.py ├── ncltpoles_learning.py ├── particlefilter.py ├── plot_global_map.py ├── poles_extractor.py ├── pynclt.py ├── test_match.py ├── util.py └── utils.py /LICENSE: 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