https://github.com/robustfieldautonomylab/cvd-sfm
https://github.com/robustfieldautonomylab/cvd-sfm
Last synced: 12 months ago
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- Host: GitHub
- URL: https://github.com/robustfieldautonomylab/cvd-sfm
- Owner: RobustFieldAutonomyLab
- License: mit
- Created: 2025-03-01T15:53:31.000Z (over 1 year ago)
- Default Branch: main
- Last Pushed: 2025-04-04T04:36:43.000Z (about 1 year ago)
- Last Synced: 2025-05-13T15:51:50.657Z (about 1 year ago)
- Language: C++
- Size: 29.6 MB
- Stars: 0
- Watchers: 0
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
## CVD-SfM
CVD-SfM is a Cross-View Deep Front-end Structure-from-Motion System for Sparse Localization in Multi-Altitude Scenes.
## Installation
Our implementaion is on Ubuntu20.04, python=3.11.5, torch=2.0.0, torchvision=0.15.1.
### COLMAP
```
git clone https://github.com/RobustFieldAutonomyLab/CVD-SfM.git
cd CVD-SfM/colmap
mkdir build && cd build
cmake .. \
-DCMAKE_BUILD_TYPE=Release \
make -j$(nproc)
sudo make install
```
### Dependence
```
pip install -r requirements.txt
```
## Run Instruction
```
python run_cvd_sfm.py
```
Remeber to change the root dir to your own path and make sure /images and /sat dir are included in root dir.
```
└── Root Dir
├── images
├── image1
├── image2
├── ..
├──sat
├── satellite image
```
## Custom-Gathered Dataset: Stevens-Sky2Ground
We 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.
### Stevens Institute of Technology Campus
This dataset contains 179 aerial images, 186 ground images and 1 satellite image.
### Raritan Bay Waterfront Park
This dataset contains 174 aerial images, 139 ground images and 1 satellite image.
Datasets Structure:
```
└── SIT campus
├── images
├── aerial_image1.png
├── aerial_image2.png
├── ..
├── ground_image1.png
├── ground_image2.png
├── ...
├── gps
├── aerial_image1.json
├── aerial_image2.json
├── ...
├── ground_image1.json
├── ground_image2.json
├── ...
├── satellite_sit.jpg
├── trajectory.jpg
└── Raritan bay
├── ...
```
Our dataset is available on hugging face: https://huggingface.co/datasets/yaxlee/Stevens-Sky2Ground