{"id":28095268,"url":"https://github.com/robustfieldautonomylab/cvd-sfm","last_synced_at":"2025-07-02T09:05:26.556Z","repository":{"id":283005836,"uuid":"941147810","full_name":"RobustFieldAutonomyLab/CVD-SfM","owner":"RobustFieldAutonomyLab","description":null,"archived":false,"fork":false,"pushed_at":"2025-04-04T04:36:43.000Z","size":31070,"stargazers_count":0,"open_issues_count":0,"forks_count":0,"subscribers_count":0,"default_branch":"main","last_synced_at":"2025-05-13T15:51:50.657Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/RobustFieldAutonomyLab.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2025-03-01T15:53:31.000Z","updated_at":"2025-04-04T04:36:47.000Z","dependencies_parsed_at":"2025-03-18T05:23:05.864Z","dependency_job_id":"d7639804-be71-4f72-b6a5-8c4fc4172b34","html_url":"https://github.com/RobustFieldAutonomyLab/CVD-SfM","commit_stats":null,"previous_names":["robustfieldautonomylab/cvd-sfm"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/RobustFieldAutonomyLab/CVD-SfM","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RobustFieldAutonomyLab%2FCVD-SfM","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RobustFieldAutonomyLab%2FCVD-SfM/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RobustFieldAutonomyLab%2FCVD-SfM/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RobustFieldAutonomyLab%2FCVD-SfM/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/RobustFieldAutonomyLab","download_url":"https://codeload.github.com/RobustFieldAutonomyLab/CVD-SfM/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RobustFieldAutonomyLab%2FCVD-SfM/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":263108810,"owners_count":23415005,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2025-05-13T15:39:45.429Z","updated_at":"2025-07-02T09:05:26.535Z","avatar_url":"https://github.com/RobustFieldAutonomyLab.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"## CVD-SfM\n\nCVD-SfM is a Cross-View Deep Front-end Structure-from-Motion System for Sparse Localization in Multi-Altitude Scenes.\n\n## Installation\nOur implementaion is on Ubuntu20.04, python=3.11.5, torch=2.0.0, torchvision=0.15.1.\n### COLMAP\n```\ngit clone https://github.com/RobustFieldAutonomyLab/CVD-SfM.git\ncd CVD-SfM/colmap\nmkdir build \u0026\u0026 cd build\ncmake .. \\\n  -DCMAKE_BUILD_TYPE=Release \\\nmake -j$(nproc)\nsudo make install\n```\n\n### Dependence\n```\npip install -r requirements.txt\n```\n## Run Instruction\n```\npython run_cvd_sfm.py\n```\nRemeber to change the root dir to your own path and make sure /images and /sat dir are included in root dir.\n```\n└── Root Dir\n      ├── images\n               ├── image1\n               ├── image2\n               ├── ..\n      ├──sat\n               ├── satellite image\n```\n\n## Custom-Gathered Dataset: Stevens-Sky2Ground\nWe collect two multi-altitude datasets with ground truth GPS for two different sites. Each contains aerial imagery collected by UAV and ground imagery collected by handheld device. One high-resolution satellite imagery from Google Earth Pro is also included for each site. Ground-level GPS is achieved by RTK GNSS using EMLID Reach RS+ receivers.\n### Stevens Institute of Technology Campus\n\u003cp align=\"left\"\u003e\n  \u003cimg src=\"overview/sit_dataset.jpg\" height=\"315\"\u003e\n  \u003cimg src=\"overview/sit_trajectory.jpg\" height=\"315\"\u003e\n\u003c/p\u003e\n\nThis dataset contains 179 aerial images, 186 ground images and 1 satellite image.\n\n### Raritan Bay Waterfront Park\n\u003cp align=\"left\"\u003e\n  \u003cimg src=\"overview/raritan_dataset.jpg\" height=\"315\"\u003e\n  \u003cimg src=\"overview/raritan_trajectory.jpg\" height=\"315\"\u003e\n\u003c/p\u003e\n\nThis dataset contains 174 aerial images, 139 ground images and 1 satellite image.\n\nDatasets Structure:\n```\n└── SIT campus\n       ├── images\n               ├── aerial_image1.png\n               ├── aerial_image2.png\n               ├── ..\n               ├── ground_image1.png\n               ├── ground_image2.png\n               ├── ...\n      ├── gps\n               ├── aerial_image1.json\n               ├── aerial_image2.json\n               ├── ...\n               ├── ground_image1.json\n               ├── ground_image2.json\n               ├── ...\n      ├── satellite_sit.jpg\n      ├── trajectory.jpg\n└── Raritan bay\n       ├── ...\n```\n\nOur dataset is available on hugging face: https://huggingface.co/datasets/yaxlee/Stevens-Sky2Ground\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frobustfieldautonomylab%2Fcvd-sfm","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Frobustfieldautonomylab%2Fcvd-sfm","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frobustfieldautonomylab%2Fcvd-sfm/lists"}