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https://github.com/peterWon/GLoc3D
https://github.com/peterWon/GLoc3D
Last synced: 27 days ago
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- Host: GitHub
- URL: https://github.com/peterWon/GLoc3D
- Owner: peterWon
- Created: 2023-11-25T07:55:38.000Z (about 1 year ago)
- Default Branch: master
- Last Pushed: 2023-11-25T08:00:05.000Z (about 1 year ago)
- Last Synced: 2024-09-07T04:10:31.956Z (5 months ago)
- Language: C++
- Size: 1.61 MB
- Stars: 6
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# GlobalLoc3D
Implementation of our paper "Global Localization in Large-scale Point Clouds via Roll-pitch-yaw Invariant Place Recognition and Low-overlap Global Registration" (https://ieeexplore.ieee.org/document/10275135) in PyTorch.
# Setup
## Dependencies
1. [PyTorch](https://pytorch.org/get-started/locally/)
2. [Faiss](https://github.com/facebookresearch/faiss)
3. [scipy](https://www.scipy.org/)
- [numpy](http://www.numpy.org/)
- [sklearn](https://scikit-learn.org/stable/)
- [h5py](https://www.h5py.org/)
4. [tensorboardX](https://github.com/lanpa/tensorboardX)
# Usage
- Data preparation
- Get into the folder of 'registration'
- ``` mkdir build && cd build && make -j8```
- Download KITTI Odometry and KITTI raw
- Set 'root_dir' in 'kitti_i2i.py' to your own directory that saves KITTI raw
- Set 'odometry_dir' in 'kitti_i2i.py' to your own directory that saves KITTI odometry
- Generate index files using 'gen_index_files.py'
- Run ```./registration/build/save_probability_img YOUR_KITTI_RAW_DIR ```. You can find two folders saving processed images on the same directory of your root directory of KITTI raw.
- Training
- Check arguments in main.py and run:
- ```python main.py --mode=cluster --dataset=kitti --pooling=netvlad_fc ```
- ```python main.py --mode=train --dataset=kitti --pooling=netvlad_fc```
- Test
- Place recognition
- ```python main.py --mode=test --dataset=kitti --pooling=netvlad_fc --resume=YOUR_TRAINING_DIR --ckpt=best```
- Global localization
- ```python main.py --mode=save_pt --dataset=kitti --pooling=netvlad_fc --resume=YOUR_TRAINING_DIR --ckpt=best```
- ```registration/build/global_localization VALSET_FILENAME GT_POSE_FILENAME MODEL_FILENAME```
---
### Acknowledgements
- The authors of [Pytorch-NetVLAD](https://github.com/Nanne/pytorch-NetVlad)
- The authors of [Cartographer](https://github.com/cartographer-project/cartographer)
### license
```Following licenses of the above acknowledged repositories. ```