├── MATLAB ├── main.m └── pr_src │ ├── dist_btn_pose.m │ ├── fast_dft.m │ ├── generateRadon.m │ ├── linspecer.m │ ├── loadData.m │ ├── osdir.m │ ├── rowkey.m │ └── sc_dist.m ├── PYTHON ├── RaPlace.py ├── ReadME.md └── Result of RaPlace (Python Code).png ├── README.md └── pr_results ├── mulran_pr_results ├── KAIST_gloc_F1.pdf ├── dcc_gloc_F1.pdf ├── global_loc_DCC │ ├── gloc_DCC_08020903.pdf │ ├── pp DCC08020903 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp DCC08020903 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp DCC08020903 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc DCC08020903 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc DCC08020903 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ └── sc DCC08020903 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat ├── global_loc_KAIST │ ├── 0620_to_0823 │ │ ├── pp KAIST06200823 within 10m │ │ │ ├── nCorrectRejections.mat │ │ │ ├── nFalseAlarms.mat │ │ │ ├── nHits.mat │ │ │ └── nMisses.mat │ │ ├── pp KAIST06200823 within 20m │ │ │ ├── nCorrectRejections.mat │ │ │ ├── nFalseAlarms.mat │ │ │ ├── nHits.mat │ │ │ └── nMisses.mat │ │ ├── pp KAIST06200823 within 50m │ │ │ ├── nCorrectRejections.mat │ │ │ ├── nFalseAlarms.mat │ │ │ ├── nHits.mat │ │ │ └── nMisses.mat │ │ ├── sc KAIST06200823 within 10m │ │ │ ├── nCorrectRejections.mat │ │ │ ├── nFalseAlarms.mat │ │ │ ├── nHits.mat │ │ │ └── nMisses.mat │ │ ├── sc KAIST06200823 within 20m │ │ │ ├── nCorrectRejections.mat │ │ │ ├── nFalseAlarms.mat │ │ │ ├── nHits.mat │ │ │ └── nMisses.mat │ │ └── sc KAIST06200823 within 50m │ │ │ ├── nCorrectRejections.mat │ │ │ ├── nFalseAlarms.mat │ │ │ ├── nHits.mat │ │ │ └── nMisses.mat │ └── 0902_to_0620 │ │ ├── pp KAIST09020620 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ │ ├── pp KAIST09020620 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ │ ├── pp KAIST09020620 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ │ ├── sc KAIST09020620 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ │ ├── sc KAIST09020620 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ │ └── sc KAIST09020620 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat ├── global_loc_river │ ├── 0802_to_0816 │ │ ├── pp Riverside08020816 within 10m │ │ │ ├── nCorrectRejections.mat │ │ │ ├── nFalseAlarms.mat │ │ │ ├── nHits.mat │ │ │ └── nMisses.mat │ │ ├── pp Riverside08020816 within 20m │ │ │ ├── nCorrectRejections.mat │ │ │ ├── nFalseAlarms.mat │ │ │ ├── nHits.mat │ │ │ └── nMisses.mat │ │ ├── pp Riverside08020816 within 50m │ │ │ ├── nCorrectRejections.mat │ │ │ ├── nFalseAlarms.mat │ │ │ ├── nHits.mat │ │ │ └── nMisses.mat │ │ ├── sc Riverside08020816 within 10m │ │ │ ├── nCorrectRejections.mat │ │ │ ├── nFalseAlarms.mat │ │ │ ├── nHits.mat │ │ │ └── nMisses.mat │ │ ├── sc Riverside08020816 within 20m │ │ │ ├── nCorrectRejections.mat │ │ │ ├── nFalseAlarms.mat │ │ │ ├── nHits.mat │ │ │ └── nMisses.mat │ │ └── sc Riverside08020816 within 50m │ │ │ ├── nCorrectRejections.mat │ │ │ ├── nFalseAlarms.mat │ │ │ ├── nHits.mat │ │ │ └── nMisses.mat │ └── rev_to_0816 │ │ ├── pp Riversiderev0816 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ │ ├── pp Riversiderev0816 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ │ ├── pp Riversiderev0816 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ │ ├── sc Riversiderev0816 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ │ ├── sc Riversiderev0816 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ │ └── sc Riversiderev0816 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat ├── global_loc_sejong │ ├── 0820_to_0620 │ │ ├── pp Sejong08200620 within 10m │ │ │ ├── nCorrectRejections.mat │ │ │ ├── nFalseAlarms.mat │ │ │ ├── nHits.mat │ │ │ └── nMisses.mat │ │ ├── pp Sejong08200620 within 20m │ │ │ ├── nCorrectRejections.mat │ │ │ ├── nFalseAlarms.mat │ │ │ ├── nHits.mat │ │ │ └── nMisses.mat │ │ ├── pp Sejong08200620 within 50m │ │ │ ├── nCorrectRejections.mat │ │ │ ├── nFalseAlarms.mat │ │ │ ├── nHits.mat │ │ │ └── nMisses.mat │ │ ├── sc Sejong08200620 within 10m │ │ │ ├── nCorrectRejections.mat │ │ │ ├── nFalseAlarms.mat │ │ │ ├── nHits.mat │ │ │ └── nMisses.mat │ │ ├── sc Sejong08200620 within 20m │ │ │ ├── nCorrectRejections.mat │ │ │ ├── nFalseAlarms.mat │ │ │ ├── nHits.mat │ │ │ └── nMisses.mat │ │ └── sc Sejong08200620 within 50m │ │ │ ├── nCorrectRejections.mat │ │ │ ├── nFalseAlarms.mat │ │ │ ├── nHits.mat │ │ │ └── nMisses.mat │ ├── 0820_to_rev │ │ ├── pp sejong0820 reverse within 20m │ │ │ ├── nCorrectRejections.mat │ │ │ ├── nFalseAlarms.mat │ │ │ ├── nHits.mat │ │ │ └── nMisses.mat │ │ ├── pp sejong0820 reverse within 50m │ │ │ ├── nCorrectRejections.mat │ │ │ ├── nFalseAlarms.mat │ │ │ ├── nHits.mat │ │ │ └── nMisses.mat │ │ ├── sc sejong0820 reverse within 20m │ │ │ ├── nCorrectRejections.mat │ │ │ ├── nFalseAlarms.mat │ │ │ ├── nHits.mat │ │ │ └── nMisses.mat │ │ ├── sc sejong0820 reverse within 50m │ │ │ ├── nCorrectRejections.mat │ │ │ ├── nFalseAlarms.mat │ │ │ ├── nHits.mat │ │ │ └── nMisses.mat │ │ └── sc sejong0820 reverse within 5m │ │ │ ├── nCorrectRejections.mat │ │ │ ├── nFalseAlarms.mat │ │ │ ├── nHits.mat │ │ │ └── nMisses.mat │ ├── rev_to_0620 │ │ ├── pp Sejongrev0620 within 10m │ │ │ ├── nCorrectRejections.mat │ │ │ ├── nFalseAlarms.mat │ │ │ ├── nHits.mat │ │ │ └── nMisses.mat │ │ ├── pp Sejongrev0620 within 20m │ │ │ ├── nCorrectRejections.mat │ │ │ ├── nFalseAlarms.mat │ │ │ ├── nHits.mat │ │ │ └── nMisses.mat │ │ ├── pp Sejongrev0620 within 50m │ │ │ ├── nCorrectRejections.mat │ │ │ ├── nFalseAlarms.mat │ │ │ ├── nHits.mat │ │ │ └── nMisses.mat │ │ ├── sc Sejongrev0620 within 10m │ │ │ ├── nCorrectRejections.mat │ │ │ ├── nFalseAlarms.mat │ │ │ ├── nHits.mat │ │ │ └── nMisses.mat │ │ ├── sc Sejongrev0620 within 20m │ │ │ ├── nCorrectRejections.mat │ │ │ ├── nFalseAlarms.mat │ │ │ ├── nHits.mat │ │ │ └── nMisses.mat │ │ └── sc Sejongrev0620 within 50m │ │ │ ├── nCorrectRejections.mat │ │ │ ├── nFalseAlarms.mat │ │ │ ├── nHits.mat │ │ │ └── nMisses.mat │ └── rev_to_0820 │ │ ├── pp Sejongrev0820 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ │ ├── pp Sejongrev0820 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ │ └── pp Sejongrev0820 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat ├── gloc_DCC_08020903.pdf ├── gloc_KAIST_06200823.pdf ├── gloc_KAIST_09020620.pdf ├── gloc_river.pdf ├── gloc_river_08020816.pdf ├── gloc_sejong_08020620.pdf ├── mulran_DCC_190802.pdf ├── mulran_DCC_190823.pdf ├── mulran_DCC_190903.pdf ├── mulran_KAIST_190620.pdf ├── mulran_KAIST_190620 │ ├── mulran_KAIST_190620.pdf │ ├── pp KAIST0620 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp KAIST0620 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp KAIST0620 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc KAIST0620 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc KAIST0620 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ └── sc KAIST0620 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat ├── mulran_KAIST_190823.pdf ├── mulran_KAIST_190823 │ ├── KAIST0823.pdf │ ├── pp KAIST0823 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp KAIST0823 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp KAIST0823 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp KAIST0823 within 5m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── prcurve.pdf │ ├── sc KAIST0823 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc KAIST0823 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc KAIST0823 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ └── sc KAIST0823 within 5m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat ├── mulran_KAIST_190902.pdf ├── mulran_KAIST_190902 │ ├── mulran_KAIST_190902.pdf │ ├── pp KAIST0902 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp KAIST0902 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp KAIST0902 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc KAIST0902 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc KAIST0902 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ └── sc KAIST0902 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat ├── mulran_dcc_190802 │ ├── mulran_DCC_190802.pdf │ ├── pp DCC0802 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp DCC0802 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp DCC0802 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ └── sc within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat ├── mulran_dcc_190823 │ ├── mulran_DCC_190823.pdf │ ├── pp DCC0823 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp DCC0823 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp DCC0823 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp DCC0823 within 5m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── prcurve.pdf │ ├── sc DCC0823 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc DCC0823 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc DCC0823 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ └── sc DCC0823 within 5m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat ├── mulran_dcc_190903 │ ├── mulran_DCC_190903.pdf │ ├── pp DCC0903 within 100m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp DCC0903 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp DCC0903 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp DCC0903 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp DCC0903 within 5m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── prcurve.pdf │ ├── prcurve2.pdf │ ├── sc DCC0903 within 100m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc DCC0903 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc DCC0903 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc DCC0903 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ └── sc DCC0903 within 5m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat ├── mulran_river_190802.pdf ├── mulran_river_190802 │ ├── mulran_river_190802.pdf │ ├── pp Riverside0802 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp Riverside0802 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp Riverside0802 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc Riverside0802 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc Riverside0802 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ └── sc Riverside0802 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat ├── mulran_river_190816.pdf ├── mulran_river_190816 │ ├── mulran_river_190816.pdf │ ├── pp Riverside0816 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp Riverside0816 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp Riverside0816 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc Riverside0816 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc Riverside0816 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ └── sc Riverside0816 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat ├── mulran_river_190823.pdf ├── mulran_river_190823 │ ├── mulran_river_190823.pdf │ ├── pp Riverside0823 rev within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp Riverside0823 rev within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp Riverside0823 rev within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc Riverside0823 rev within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc Riverside0823 rev within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ └── sc Riverside0823 rev within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat ├── mulran_sejong_190620.pdf ├── mulran_sejong_190620 │ ├── mulran_sejong_190620.pdf │ ├── pp Sejong0620 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp Sejong0620 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp Sejong0620 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc Sejong0620 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc Sejong0620 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc Sejong0620 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ └── sc Sejong0620 within 5m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat ├── mulran_sejong_190820.pdf ├── mulran_sejong_190820 │ ├── mulran_sejong_190820.pdf │ ├── pp Sejong0820 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp Sejong0820 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp Sejong0820 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc Sejong0820 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc Sejong0820 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ └── sc Sejong0820 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat ├── mulran_sejong_190820_rev.pdf ├── mulran_sejong_190820_rev │ ├── mulran_sejong_190820_rev.pdf │ ├── pp Sejong0820 rev within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp Sejong0820 rev within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp Sejong0820 rev within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc Sejong0820 rev within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc Sejong0820 rev within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ └── sc Sejong0820 rev within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat ├── river_gloc_F1.pdf └── sejong_gloc_F1.pdf ├── oxford_pr_results ├── 10-11-46-21 │ ├── pp 01-10-11 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp 01-10-11 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp 01-10-11 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc 01-10-11 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc 01-10-11 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ └── sc 01-10-11 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat ├── 14-12-05-52 │ ├── pp 01-14-12 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp 01-14-12 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp 01-14-12 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc 01-14-12 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc 01-14-12 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ └── sc 01-14-12 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat ├── 16-14-15-33 │ ├── pp 01-16-14 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp 01-16-14 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp 01-16-14 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc 01-16-14 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc 01-16-14 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ └── sc 01-16-14 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat ├── 18-15-20-12 │ ├── pp 01-18-15 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp 01-18-15 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp 01-18-15 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc 01-18-15 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc 01-18-15 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ └── sc 01-18-15 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat ├── global_loc_10_to_14 │ ├── pp 10 to 14 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp 10 to 14 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp 10 to 14 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc 10 to 14 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc 10 to 14 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ └── sc 10 to 14 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat ├── global_loc_16_to_18 │ ├── pp 16 to 18 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp 16 to 18 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── pp 16 to 18 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc 16 to 18 within 10m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ ├── sc 16 to 18 within 20m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat │ └── sc 16 to 18 within 50m │ │ ├── nCorrectRejections.mat │ │ ├── nFalseAlarms.mat │ │ ├── nHits.mat │ │ └── nMisses.mat ├── gloc_oxford.pdf ├── oxford_01-16-14.pdf ├── oxford_01-18-15.pdf ├── oxford_f1_011614.pdf ├── oxford_f1_011815.pdf └── oxford_gloc_F1.pdf └── readme.md /MATLAB/pr_src/dist_btn_pose.m: -------------------------------------------------------------------------------- 1 | function dist = dist_btn_pose(pose1, pose2) 2 | dist = sqrt( (pose1(1) - pose2(1))^2 + (pose1(2) - pose2(2))^2); 3 | end 4 | -------------------------------------------------------------------------------- /MATLAB/pr_src/fast_dft.m: -------------------------------------------------------------------------------- 1 | function [corrmap, maxval] = 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