The files provide a implementation for our paper:
Stefan Schubert, Peer Neubert, Peter Protzel (2021): Beyond ANN: Exploiting Structural Knowledge for Efficient Place Recognition. In Proc. of International Conference on Robotics and Automation (ICRA).

The Efficient Place Recognition (EPR) implementation uses the full pairwise similarities as input. For real applications, the provided implementation has to be modified to work directly on the image descriptors.

Run demo.m to replicate the result for CMU 20110421-vs-20100915 from our paper.
After running the code, a figure with three similarity matrices plus ground truth should appear and the following lines should be printed in your Matlab console:

>> demo
Results for CMU 20110421-vs-20100915:
full: AUC=0.77
EPR-PR: AUC=0.56
EPR-ER: AUC=0.8



If you have any questions, please feel free to contact:
Stefan Schubert (stefan.schubert@etit.tu-chemnitz.de)

