├── .gitmodules ├── PR_bench ├── GardensPointWalking │ ├── day_left │ │ ├── Image000.jpg │ │ ├── Image001.jpg │ │ ├── Image002.jpg │ │ ├── Image003.jpg │ │ ├── Image004.jpg │ │ ├── Image005.jpg │ │ ├── Image006.jpg │ │ ├── Image007.jpg │ │ ├── Image008.jpg │ │ ├── Image009.jpg │ │ ├── Image010.jpg │ │ ├── Image011.jpg │ │ ├── Image012.jpg │ │ ├── Image013.jpg │ │ ├── Image014.jpg │ │ ├── Image015.jpg │ │ ├── Image016.jpg │ │ ├── Image017.jpg │ │ ├── Image018.jpg │ │ ├── Image019.jpg │ │ ├── Image020.jpg │ │ ├── Image021.jpg │ │ ├── Image022.jpg │ │ ├── Image023.jpg │ │ ├── Image024.jpg │ │ ├── Image025.jpg │ │ ├── Image026.jpg │ │ ├── Image027.jpg │ │ ├── Image028.jpg │ │ ├── Image029.jpg │ │ ├── Image030.jpg │ │ ├── Image031.jpg │ │ ├── Image032.jpg │ │ ├── Image033.jpg │ │ ├── Image034.jpg │ │ ├── Image035.jpg │ │ ├── Image036.jpg │ │ ├── Image037.jpg │ │ ├── Image038.jpg │ │ ├── Image039.jpg │ │ ├── Image040.jpg │ │ ├── Image041.jpg │ │ ├── Image042.jpg │ │ ├── Image043.jpg │ │ ├── Image044.jpg │ │ ├── Image045.jpg │ │ ├── Image046.jpg │ │ ├── Image047.jpg │ │ ├── Image048.jpg │ │ ├── Image049.jpg │ │ ├── Image050.jpg │ │ ├── Image051.jpg │ │ ├── Image052.jpg │ │ ├── Image053.jpg │ │ ├── Image054.jpg │ │ ├── Image055.jpg │ │ ├── Image056.jpg │ │ ├── Image057.jpg │ │ ├── Image058.jpg │ │ ├── Image059.jpg │ │ ├── Image060.jpg │ │ ├── Image061.jpg │ │ ├── Image062.jpg │ │ ├── Image063.jpg │ │ ├── Image064.jpg │ │ ├── Image065.jpg │ │ ├── Image066.jpg │ │ ├── Image067.jpg │ │ ├── Image068.jpg │ │ ├── Image069.jpg │ │ ├── Image070.jpg │ │ ├── Image071.jpg │ │ ├── Image072.jpg │ │ ├── Image073.jpg │ │ ├── Image074.jpg │ │ ├── Image075.jpg │ │ ├── Image076.jpg │ │ ├── Image077.jpg │ │ ├── Image078.jpg │ │ ├── Image079.jpg │ │ ├── Image080.jpg │ │ ├── Image081.jpg │ │ ├── Image082.jpg │ │ ├── Image083.jpg │ │ ├── Image084.jpg │ │ ├── Image085.jpg │ │ ├── Image086.jpg │ │ ├── Image087.jpg │ │ ├── Image088.jpg │ │ ├── Image089.jpg │ │ ├── Image090.jpg │ │ ├── Image091.jpg │ │ ├── Image092.jpg │ │ ├── Image093.jpg │ │ ├── Image094.jpg │ │ ├── Image095.jpg │ │ ├── Image096.jpg │ │ ├── Image097.jpg │ │ ├── Image098.jpg │ │ ├── Image099.jpg │ │ ├── Image100.jpg │ │ ├── Image101.jpg │ │ ├── Image102.jpg │ │ ├── Image103.jpg │ │ ├── Image104.jpg │ │ ├── Image105.jpg │ │ ├── Image106.jpg │ │ ├── Image107.jpg │ │ ├── Image108.jpg │ │ ├── Image109.jpg │ │ ├── Image110.jpg │ │ ├── Image111.jpg │ │ ├── Image112.jpg │ │ ├── Image113.jpg │ │ ├── Image114.jpg │ │ ├── Image115.jpg │ │ ├── Image116.jpg │ │ ├── Image117.jpg │ │ ├── Image118.jpg │ │ ├── Image119.jpg │ │ ├── Image120.jpg │ │ ├── Image121.jpg │ │ ├── Image122.jpg │ │ ├── Image123.jpg │ │ ├── Image124.jpg │ │ ├── Image125.jpg │ │ ├── Image126.jpg │ │ ├── Image127.jpg │ │ ├── Image128.jpg │ │ ├── Image129.jpg │ │ ├── Image130.jpg │ │ ├── Image131.jpg │ │ ├── Image132.jpg │ │ ├── Image133.jpg │ │ ├── Image134.jpg │ │ ├── Image135.jpg │ │ ├── Image136.jpg │ │ ├── Image137.jpg │ │ ├── Image138.jpg │ │ ├── Image139.jpg │ │ ├── Image140.jpg │ │ ├── Image141.jpg │ │ ├── Image142.jpg │ │ ├── Image143.jpg │ │ ├── Image144.jpg │ │ ├── Image145.jpg │ │ ├── Image146.jpg │ │ ├── Image147.jpg │ │ ├── Image148.jpg │ │ ├── Image149.jpg │ │ ├── Image150.jpg │ │ ├── Image151.jpg │ │ ├── Image152.jpg │ │ ├── Image153.jpg │ │ ├── Image154.jpg │ │ ├── Image155.jpg │ │ ├── Image156.jpg │ │ ├── Image157.jpg │ │ ├── Image158.jpg │ │ ├── Image159.jpg │ │ ├── Image160.jpg │ │ ├── Image161.jpg │ │ ├── Image162.jpg │ │ ├── Image163.jpg │ │ ├── Image164.jpg │ │ ├── Image165.jpg │ │ ├── Image166.jpg │ │ ├── Image167.jpg │ │ ├── Image168.jpg │ │ ├── Image169.jpg │ │ ├── Image170.jpg │ │ ├── Image171.jpg │ │ ├── Image172.jpg │ │ ├── Image173.jpg │ │ ├── Image174.jpg │ │ ├── Image175.jpg │ │ ├── Image176.jpg │ │ ├── Image177.jpg │ │ ├── Image178.jpg │ │ ├── Image179.jpg │ │ ├── Image180.jpg │ │ ├── Image181.jpg │ │ ├── Image182.jpg │ │ ├── Image183.jpg │ │ ├── Image184.jpg │ │ ├── Image185.jpg │ │ ├── Image186.jpg │ │ ├── Image187.jpg │ │ ├── Image188.jpg │ │ ├── Image189.jpg │ │ ├── Image190.jpg │ │ ├── Image191.jpg │ │ ├── Image192.jpg │ │ ├── Image193.jpg │ │ ├── Image194.jpg │ │ ├── Image195.jpg │ │ ├── Image196.jpg │ │ ├── Image197.jpg │ │ ├── Image198.jpg │ │ └── Image199.jpg │ ├── day_right │ │ ├── Image000.jpg │ │ ├── Image001.jpg │ │ ├── Image002.jpg │ │ ├── Image003.jpg │ │ ├── Image004.jpg │ │ ├── Image005.jpg │ │ ├── Image006.jpg │ │ ├── Image007.jpg │ │ ├── Image008.jpg │ │ ├── Image009.jpg │ │ ├── Image010.jpg │ │ ├── Image011.jpg │ │ ├── Image012.jpg │ │ ├── Image013.jpg │ │ ├── Image014.jpg │ │ ├── Image015.jpg │ │ ├── Image016.jpg │ │ ├── Image017.jpg │ │ ├── Image018.jpg │ │ ├── Image019.jpg │ │ ├── Image020.jpg │ │ ├── Image021.jpg │ │ ├── Image022.jpg │ │ ├── Image023.jpg │ │ ├── Image024.jpg │ │ ├── Image025.jpg │ │ ├── Image026.jpg │ │ ├── Image027.jpg │ │ ├── Image028.jpg │ │ ├── Image029.jpg │ │ ├── Image030.jpg │ │ ├── Image031.jpg │ │ ├── Image032.jpg │ │ ├── Image033.jpg │ │ ├── Image034.jpg │ │ ├── Image035.jpg │ │ ├── Image036.jpg │ │ ├── Image037.jpg │ │ ├── Image038.jpg │ │ ├── Image039.jpg │ │ ├── Image040.jpg │ │ ├── Image041.jpg │ │ ├── Image042.jpg │ │ ├── Image043.jpg │ │ ├── Image044.jpg │ │ ├── Image045.jpg │ │ ├── Image046.jpg │ │ ├── Image047.jpg │ │ ├── Image048.jpg │ │ ├── Image049.jpg │ │ ├── Image050.jpg │ │ ├── Image051.jpg │ │ ├── Image052.jpg │ │ ├── Image053.jpg │ │ ├── Image054.jpg │ │ ├── Image055.jpg │ │ ├── Image056.jpg │ │ ├── Image057.jpg │ │ ├── Image058.jpg │ │ ├── Image059.jpg │ │ ├── Image060.jpg │ │ ├── Image061.jpg │ │ ├── Image062.jpg │ │ ├── Image063.jpg │ │ ├── Image064.jpg │ │ ├── Image065.jpg │ │ ├── Image066.jpg │ │ ├── Image067.jpg │ │ ├── Image068.jpg │ │ ├── Image069.jpg │ │ ├── Image070.jpg │ │ ├── Image071.jpg │ │ ├── Image072.jpg │ │ ├── Image073.jpg │ │ ├── Image074.jpg │ │ ├── Image075.jpg │ │ ├── Image076.jpg │ │ ├── Image077.jpg │ │ ├── Image078.jpg │ │ ├── Image079.jpg │ │ ├── Image080.jpg │ │ ├── Image081.jpg │ │ ├── Image082.jpg │ │ ├── Image083.jpg │ │ ├── Image084.jpg │ │ ├── Image085.jpg │ │ ├── Image086.jpg │ │ ├── Image087.jpg │ │ ├── Image088.jpg │ │ ├── Image089.jpg │ │ ├── Image090.jpg │ │ ├── Image091.jpg │ │ ├── Image092.jpg │ │ ├── Image093.jpg │ │ ├── Image094.jpg │ │ ├── Image095.jpg │ │ ├── Image096.jpg │ │ ├── Image097.jpg │ │ ├── Image098.jpg │ │ ├── Image099.jpg │ │ ├── Image100.jpg │ │ ├── Image101.jpg │ │ ├── Image102.jpg │ │ ├── Image103.jpg │ │ ├── Image104.jpg │ │ ├── Image105.jpg │ │ ├── Image106.jpg │ │ ├── Image107.jpg │ │ ├── Image108.jpg │ │ ├── Image109.jpg │ │ ├── Image110.jpg │ │ ├── Image111.jpg │ │ ├── Image112.jpg │ │ ├── Image113.jpg │ │ ├── Image114.jpg │ │ ├── Image115.jpg │ │ ├── Image116.jpg │ │ ├── Image117.jpg │ │ ├── Image118.jpg │ │ ├── Image119.jpg │ │ ├── Image120.jpg │ │ ├── Image121.jpg │ │ ├── Image122.jpg │ │ ├── Image123.jpg │ │ ├── Image124.jpg │ │ ├── Image125.jpg │ │ ├── Image126.jpg │ │ ├── Image127.jpg │ │ ├── Image128.jpg │ │ ├── Image129.jpg │ │ ├── Image130.jpg │ │ ├── Image131.jpg │ │ ├── Image132.jpg │ │ ├── Image133.jpg │ │ ├── Image134.jpg │ │ ├── Image135.jpg │ │ ├── Image136.jpg │ │ ├── Image137.jpg │ │ ├── Image138.jpg │ │ ├── Image139.jpg │ │ ├── Image140.jpg │ │ ├── Image141.jpg │ │ ├── Image142.jpg │ │ ├── Image143.jpg │ │ ├── Image144.jpg │ │ ├── Image145.jpg │ │ ├── Image146.jpg │ │ ├── Image147.jpg │ │ ├── Image148.jpg │ │ ├── Image149.jpg │ │ ├── Image150.jpg │ │ ├── Image151.jpg │ │ ├── Image152.jpg │ │ ├── Image153.jpg │ │ ├── Image154.jpg │ │ ├── Image155.jpg │ │ ├── Image156.jpg │ │ ├── Image157.jpg │ │ ├── Image158.jpg │ │ ├── Image159.jpg │ │ ├── Image160.jpg │ │ ├── Image161.jpg │ │ ├── Image162.jpg │ │ ├── Image163.jpg │ │ ├── Image164.jpg │ │ ├── Image165.jpg │ │ ├── Image166.jpg │ │ ├── Image167.jpg │ │ ├── Image168.jpg │ │ ├── Image169.jpg │ │ ├── Image170.jpg │ │ ├── Image171.jpg │ │ ├── Image172.jpg │ │ ├── Image173.jpg │ │ ├── Image174.jpg │ │ ├── Image175.jpg │ │ ├── Image176.jpg │ │ ├── Image177.jpg │ │ ├── Image178.jpg │ │ ├── Image179.jpg │ │ ├── Image180.jpg │ │ ├── Image181.jpg │ │ ├── Image182.jpg │ │ ├── Image183.jpg │ │ ├── Image184.jpg │ │ ├── Image185.jpg │ │ ├── Image186.jpg │ │ ├── Image187.jpg │ │ ├── Image188.jpg │ │ ├── Image189.jpg │ │ ├── Image190.jpg │ │ ├── Image191.jpg │ │ ├── Image192.jpg │ │ ├── Image193.jpg │ │ ├── Image194.jpg │ │ ├── Image195.jpg │ │ ├── Image196.jpg │ │ ├── Image197.jpg │ │ ├── Image198.jpg │ │ └── Image199.jpg │ └── night_right │ │ ├── Image000.jpg │ │ ├── Image001.jpg │ │ ├── Image002.jpg │ │ ├── Image003.jpg │ │ ├── Image004.jpg │ │ ├── Image005.jpg │ │ ├── Image006.jpg │ │ ├── Image007.jpg │ │ ├── Image008.jpg │ │ ├── Image009.jpg │ │ ├── Image010.jpg │ │ ├── Image011.jpg │ │ ├── Image012.jpg │ │ ├── Image013.jpg │ │ ├── Image014.jpg │ │ ├── Image015.jpg │ │ ├── Image016.jpg │ │ ├── Image017.jpg │ │ ├── Image018.jpg │ │ ├── Image019.jpg │ │ ├── Image020.jpg │ │ ├── Image021.jpg │ │ ├── Image022.jpg │ │ ├── Image023.jpg │ │ ├── Image024.jpg │ │ ├── Image025.jpg │ │ ├── Image026.jpg │ │ ├── Image027.jpg │ │ ├── Image028.jpg │ │ ├── Image029.jpg │ │ ├── Image030.jpg │ │ ├── Image031.jpg │ │ ├── Image032.jpg │ │ ├── Image033.jpg │ │ ├── Image034.jpg │ │ ├── Image035.jpg │ │ ├── Image036.jpg │ │ ├── Image037.jpg │ │ ├── Image038.jpg │ │ ├── Image039.jpg │ │ ├── Image040.jpg │ │ ├── Image041.jpg │ │ ├── Image042.jpg │ │ ├── Image043.jpg │ │ ├── Image044.jpg │ │ ├── Image045.jpg │ │ ├── Image046.jpg │ │ ├── Image047.jpg │ │ ├── Image048.jpg │ │ ├── Image049.jpg │ │ ├── Image050.jpg │ │ ├── Image051.jpg │ │ ├── Image052.jpg │ │ ├── Image053.jpg │ │ ├── Image054.jpg │ │ ├── Image055.jpg │ │ ├── Image056.jpg │ │ ├── Image057.jpg │ │ ├── Image058.jpg │ │ ├── Image059.jpg │ │ ├── Image060.jpg │ │ ├── Image061.jpg │ │ ├── Image062.jpg │ │ ├── Image063.jpg │ │ ├── Image064.jpg │ │ ├── Image065.jpg │ │ ├── Image066.jpg │ │ ├── Image067.jpg │ │ ├── Image068.jpg │ │ ├── Image069.jpg │ │ ├── Image070.jpg │ │ ├── Image071.jpg │ │ ├── Image072.jpg │ │ ├── Image073.jpg │ │ ├── Image074.jpg │ │ ├── Image075.jpg │ │ ├── Image076.jpg │ │ ├── Image077.jpg │ │ ├── Image078.jpg │ │ ├── Image079.jpg │ │ ├── Image080.jpg │ │ ├── Image081.jpg │ │ ├── Image082.jpg │ │ ├── Image083.jpg │ │ ├── Image084.jpg │ │ ├── Image085.jpg │ │ ├── Image086.jpg │ │ ├── Image087.jpg │ │ ├── Image088.jpg │ │ ├── Image089.jpg │ │ ├── Image090.jpg │ │ ├── Image091.jpg │ │ ├── Image092.jpg │ │ ├── Image093.jpg │ │ ├── Image094.jpg │ │ ├── Image095.jpg │ │ ├── Image096.jpg │ │ ├── Image097.jpg │ │ ├── Image098.jpg │ │ ├── Image099.jpg │ │ ├── Image100.jpg │ │ ├── Image101.jpg │ │ ├── Image102.jpg │ │ ├── Image103.jpg │ │ ├── Image104.jpg │ │ ├── Image105.jpg │ │ ├── Image106.jpg │ │ ├── Image107.jpg │ │ ├── Image108.jpg │ │ ├── Image109.jpg │ │ ├── Image110.jpg │ │ ├── Image111.jpg │ │ ├── Image112.jpg │ │ ├── Image113.jpg │ │ ├── Image114.jpg │ │ ├── Image115.jpg │ │ ├── Image116.jpg │ │ ├── Image117.jpg │ │ ├── Image118.jpg │ │ ├── Image119.jpg │ │ ├── Image120.jpg │ │ ├── Image121.jpg │ │ ├── Image122.jpg │ │ ├── Image123.jpg │ │ ├── Image124.jpg │ │ ├── Image125.jpg │ │ ├── Image126.jpg │ │ ├── Image127.jpg │ │ ├── Image128.jpg │ │ ├── Image129.jpg │ │ ├── Image130.jpg │ │ ├── Image131.jpg │ │ ├── Image132.jpg │ │ ├── Image133.jpg │ │ ├── Image134.jpg │ │ ├── Image135.jpg │ │ ├── Image136.jpg │ │ ├── Image137.jpg │ │ ├── Image138.jpg │ │ ├── Image139.jpg │ │ ├── Image140.jpg │ │ ├── Image141.jpg │ │ ├── Image142.jpg │ │ ├── Image143.jpg │ │ ├── Image144.jpg │ │ ├── Image145.jpg │ │ ├── Image146.jpg │ │ ├── Image147.jpg │ │ ├── Image148.jpg │ │ ├── Image149.jpg │ │ ├── Image150.jpg │ │ ├── Image151.jpg │ │ ├── Image152.jpg │ │ ├── Image153.jpg │ │ ├── Image154.jpg │ │ ├── Image155.jpg │ │ ├── Image156.jpg │ │ ├── Image157.jpg │ │ ├── Image158.jpg │ │ ├── Image159.jpg │ │ ├── Image160.jpg │ │ ├── Image161.jpg │ │ ├── Image162.jpg │ │ ├── Image163.jpg │ │ ├── Image164.jpg │ │ ├── Image165.jpg │ │ ├── Image166.jpg │ │ ├── Image167.jpg │ │ ├── Image168.jpg │ │ ├── Image169.jpg │ │ ├── Image170.jpg │ │ ├── Image171.jpg │ │ ├── Image172.jpg │ │ ├── Image173.jpg │ │ ├── Image174.jpg │ │ ├── Image175.jpg │ │ ├── Image176.jpg │ │ ├── Image177.jpg │ │ ├── Image178.jpg │ │ ├── Image179.jpg │ │ ├── Image180.jpg │ │ ├── Image181.jpg │ │ ├── Image182.jpg │ │ ├── Image183.jpg │ │ ├── Image184.jpg │ │ ├── Image185.jpg │ │ ├── Image186.jpg │ │ ├── Image187.jpg │ │ ├── Image188.jpg │ │ ├── Image189.jpg │ │ ├── Image190.jpg │ │ ├── Image191.jpg │ │ ├── Image192.jpg │ │ ├── Image193.jpg │ │ ├── Image194.jpg │ │ ├── Image195.jpg │ │ ├── Image196.jpg │ │ ├── Image197.jpg │ │ ├── Image198.jpg │ │ └── Image199.jpg ├── PR_curves │ ├── PR_conv3.png │ ├── PR_conv4.png │ ├── PR_conv5.png │ ├── PR_fc6.png │ ├── PR_fc7.png │ ├── PR_pool1.png │ └── PR_pool2.png ├── README.md ├── distance_matrix_generator.py ├── feature_extractor.py ├── matcher_frame2frame.py └── plot_PR_curves.py ├── README.md ├── loop-detection ├── README.md ├── deep_feature_extractor.py ├── loop_detector.py ├── matcher_visual.py ├── myconf.py ├── plot_gps.py └── similarity_matrix_generator.py └── place-recognition ├── GPX.py ├── deep_feature_extractor.py ├── deep_feature_lm.py ├── matcher_visual.py ├── myconf.py └── similarity_matrix_generator.py /.gitmodules: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aghagol/loop-detection/HEAD/.gitmodules -------------------------------------------------------------------------------- /PR_bench/GardensPointWalking/day_left/Image000.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aghagol/loop-detection/HEAD/PR_bench/GardensPointWalking/day_left/Image000.jpg -------------------------------------------------------------------------------- /PR_bench/GardensPointWalking/day_left/Image001.jpg: 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