PRIOR-SLAM

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PRIOR-SLAM: Enabling Visual SLAM for Loop Closure under Large Viewpoint Variations

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# PRIOR-SLAM
PRIOR-SLAM: Enabling Visual SLAM for Loop Closure under Large Viewpoint Variations

PRIOR-SLAM is the first system which leverages scene structure extracted from monocular input to achieve accurate loop closure under significant viewpoint variations and to be integrated into prevalent SLAM frameworks.

PRIOR-SLAM is developed based on the framework of [ORB-SLAM3](https://github.com/UZ-SLAMLab/ORB_SLAM3) and refines the 3D mesh reconstruction module from [Kimera](https://github.com/MIT-SPARK/Kimera).

## Loop Closure Demo

We provide demonstrations comparing PRIOR-SLAM with well-known baselines on the selected sequences with challenging loop closures, including [KITTI dataset](https://www.cvlibs.net/datasets/kitti/raw_data.php), [OpenLORIS-Scene dataset](https://github.com/lifelong-robotic-vision/OpenLORIS-Scene/blob/master/download.md), and [UrbanLoco dataset](https://github.com/weisongwen/UrbanLoco/blob/master/README.md).

### KITTI 08

### OpenLORIS Cafe1

### OpenLORIS Office1-2

### UrbanLoco CA55828

## PRIOR

We provide demonstrations comparing PRIOR with well-known features on the interpolated [Oxford](https://www.robots.ox.ac.uk/~vgg/research/affine/index.html) Graffiti sequence, where the first image is taken as a reference and subsequent images are used to form pairs with increasing viewpoint variations.

PRIOR-SLAM

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