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Hello,
I want to ask if a part of your code is implement based on [1] or not. In the paper, sequence searching is described to be performed starting from T-ds to T, where T is t the current time and ds determines how far back in the time search goes (Section III in paper [1]) . But in the code, sequence searching is performed starting from T-ds/2 to T+ds/2 ( line 39,line 74,line 75 in doFindMatches.m). It seems there is an inconsistency here.If you can look at it, I will appreciate.

Thanks
[1] Michael Milford and Gordon F. Wyeth (2012). SeqSLAM: Visual Route-Based Navigation for Sunny Summer Days and Stormy Winter Nights. In Proc. of IEEE Intl. Conf. on Robotics and Automation (ICRA)