├── Python ├── loop │ ├── config.yaml │ ├── data_tools.py │ ├── generate_embedding.py │ ├── networks.py │ ├── os_test_embed.py │ └── train_neural_embedding.py └── odometry │ ├── config.yaml │ ├── os_test_loop.py │ ├── os_test_odom.py │ ├── train_deeptio_prob.py │ ├── train_loop_pose.py │ └── utility │ ├── data_tools.py │ ├── eulerangles.py │ ├── networks.py │ ├── plot_util.py │ ├── test_deeptio_prob.py │ └── test_loop_pose_prob.py ├── README.md ├── generate_loop_from_embeddings.m ├── robust_pose_graph_optimization.m ├── spatial_consistency.m └── ti-slam_arch.png /Python/loop/config.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/risqiutama/ti-slam/HEAD/Python/loop/config.yaml -------------------------------------------------------------------------------- /Python/loop/data_tools.py: -------------------------------------------------------------------------------- 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