Tracking GUI and sample performance on a simple training path.

The GUI contains a control panel (left) for user-set parameters; a map of the room (bottom center) with training path (blue line), surveyed scenes (black dots) and recapitulated path (red line); a familiarity monitor (top center) showing the IDF of the currently inspected scene to all scenes in the training path; and circularized, pixelated views (right) of the current scene and the most familiar training path scene.