Cambridge Landmarks dataset

Installation

Download the dataset from the PoseNet project page:

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:

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

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}
}