• [Feb 2024] GLiDR accepted in CVPR'2024.

The code was tested using pytorch 3.9.18. For topology based installation requirement we use the this fantastic TopologyLayer installation. It mostly works out of the box. There may be some issues while installing Dionysus Drivers for persistence calculation. Pleae refer to the issues at the above repository for quick resolution.

Alternatively you may also follow the below conda environment setup.

git clone https://github.com/prashkmr/GLiDR
cd GLiDR
conda env create -f env.yml
conda activate GLiDR

For training GLiDR we require paired correspondences for static and dynamic scans. These are available for CARLA and ARD-16. For KITTI, we generate the paired correspondence using a novel method that we develop in our paper. See our Supplementary material for precise details.

• [CARLA] - The CARLA dataset consists of 15 correspondence numpy arrays (0..7 for training and the rest for testing) for training and testing the model. We use the first three numpy arrays(0,1,2) to train the model (due to time intensive persistence computation). We further test the model on 8 (8,9...15) numpy arrays. For SLAM we use the 4 CARLA SLAM sequences made available. The data is available here.
• [KITTI] - For KITTI we use the KITTI Odometry sequences for training the model. We transform the 11 sequences into numpy files and make them available here. We use the sequence 8 for testing the model and the rest for training our model For SLAM we use all the Odometry sequences (0 to 10). The static-dynamic corresponding pairs for KITTI are available here.
• [ARD-16] - The ARD-16 dataset consists of 4 numpy arrays (0..3). We use three (0..2) numpy arrays for training our model and the fourth numpy array for testing our model. The data is available here.