Spaces:
Running
Running
File size: 2,203 Bytes
9223079 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 |
# Cambridge Landmarks dataset
## Installation
Download the dataset from the [PoseNet project page](http://mi.eng.cam.ac.uk/projects/relocalisation/):
```bash
export dataset=datasets/cambridge
export scenes=( "KingsCollege" "OldHospital" "StMarysChurch" "ShopFacade" "GreatCourt" )
export IDs=( "251342" "251340" "251294" "251336" "251291" )
for i in "${!scenes[@]}"; do
wget https://www.repository.cam.ac.uk/bitstream/handle/1810/${IDs[i]}/${scenes[i]}.zip -P $dataset \
&& unzip $dataset/${scenes[i]}.zip -d $dataset && rm $dataset/${scenes[i]}.zip; done
```
Download the SIFT SfM models, courtesy of Torsten Sattler:
```bash
export fileid=1esqzZ1zEQlzZVic-H32V6kkZvc4NeS15
export filename=$dataset/CambridgeLandmarks_Colmap_Retriangulated_1024px.zip
wget --load-cookies /tmp/cookies.txt "https://docs.google.com/uc?export=download&confirm=$(wget --quiet --save-cookies /tmp/cookies.txt --keep-session-cookies --no-check-certificate "https://docs.google.com/uc?export=download&id=$fileid" -O- | sed -rn 's/.*confirm=([0-9A-Za-z_]+).*/\1\n/p')&id=$fileid" -O $filename && rm -rf /tmp/cookies.txt
unzip $filename -d $dataset
```
## Pipeline
```bash
python3 -m hloc.pipelines.Cambridge.pipeline
```
## Results
We report the median error in translation/rotation in cm/deg over all scenes:
| Method \ Scene | Court | King's | Hospital | Shop | St. Mary's |
| ------------------------ | --------------- | --------------- | --------------- | -------------- | -------------- |
| Active Search | 24/0.13 | 13/0.22 | 20/0.36 | **4**/0.21 | 8/0.25 |
| DSAC* | 49/0.3 | 15/0.3 | 21/0.4 | 5/0.3 | 13/0.4 |
| **SuperPoint+SuperGlue** | **17**/**0.11** | **12**/**0.21** | **14**/**0.30** | **4**/**0.19** | **7**/**0.22** |
## Citation
Please cite the following paper if you use the Cambridge Landmarks dataset:
```
@inproceedings{kendall2015posenet,
title={{PoseNet}: A convolutional network for real-time {6-DoF} camera relocalization},
author={Kendall, Alex and Grimes, Matthew and Cipolla, Roberto},
booktitle={ICCV},
year={2015}
}
```
|