Learning Camera Localization via Dense Scene Matching, CVPR2021

Overview

This repository contains code of our CVPR 2021 paper - "Learning Camera Localization via Dense Scene Matching" by Shitao Tang, Chengzhou Tang, Rui Huang, Siyu Zhu and Ping Tan.

This paper presents a new method for scene agnostic camera localization using dense scene matching (DSM), where a cost volume is constructed between a query image and a scene. The cost volume and the corresponding coordinates are processed by a CNN to predict dense coordinates. Camera poses can then be solved by PnP algorithms.

If you find this project useful, please cite:

@inproceedings{Tang2021Learning,
  title={Learning Camera Localization via Dense Scene Matching},
  author={Shitao Tang, Chengzhou Tang, Rui Huang, Siyu Zhu and Ping Tan},
  booktitle={Computer Vision and Pattern Recognition (CVPR)},
  year={2021}
}

Usage

Environment

  • The codes are tested along with
    • pytorch=1.4.0
    • lmdb (optional)
    • yaml
    • skimage
    • opencv
    • numpy=1.17
    • tensorboard

Installation

  • Build PyTorch operations
      cd libs/model/ops
      python setup.py install
    
  • Build PnP algorithm
      cd libs/utils/lm_pnp
      mkdir build
      cd build
      cmake ..
      make all
    

Train and Test

  • Download

    You can download the trained models and label files for 7scenes, Cambridge, Scannet.

    For 7scenes, you can use the prepared data in the following.

    Chess Fire Heads Office Pumpkin Kitchen Stairs

    For Cambridge landmarks, you can download image files here, and depths here.

  • Test

    Please refer to configs/7scenes.yaml for detailed explaination of how to set label file path and image file path.

    • 7scenes
      python tools/video_test.py --config configs/7scenes.yaml
      
    • Camrbrige
      python tools/video_test.py --config configs/cambridge.yaml
      
  • Train

    We use ResNet-FPN pretrained model.

      python tools/train_net.py
    
Owner
tangshitao
tangshitao
Natural language detection

Detect the language of text. What’s so cool about franc? franc can support more languages(†) than any other library franc is packaged with support for

Titus 3.8k Jan 02, 2023
docstrum

Docstrum Algorithm Getting Started This repo is for developing a Docstrum algorithm presented by O’Gorman (1993). Disclaimer This source code is built

Chulwoo Mike Pack 54 Dec 13, 2022
Image processing is one of the most common term in computer vision

Image processing is one of the most common term in computer vision. Computer vision is the process by which computers can understand images and videos, and how they are stored, manipulated, and retri

Happy N. Monday 3 Feb 15, 2022
Convert Text-to Handwriting Using Python

Convert Text-to Handwriting Using Python Description In this project we'll use python library that's "pywhatkit" for converting text to handwriting. t

8 Nov 19, 2022
Repository for Scene Text Detection with Supervised Pyramid Context Network with tensorflow.

Scene-Text-Detection-with-SPCNET Unofficial repository for [Scene Text Detection with Supervised Pyramid Context Network][https://arxiv.org/abs/1811.0

121 Oct 15, 2021
This is a Computer vision package that makes its easy to run Image processing and AI functions. At the core it uses OpenCV and Mediapipe libraries.

CVZone This is a Computer vision package that makes its easy to run Image processing and AI functions. At the core it uses OpenCV and Mediapipe librar

CVZone 648 Dec 30, 2022
Face Anonymizer - FaceAnonApp v1.0

Face Anonymizer - FaceAnonApp v1.0 Blur faces from image and video files in /data/files folder. Contents Repo of the source files for the FaceAnonApp.

6 Apr 18, 2022
A document scanner application for laptops/desktops developed using python, Tkinter and OpenCV.

DcoumentScanner A document scanner application for laptops/desktops developed using python, Tkinter and OpenCV. Directly install the .exe file to inst

Harsh Vardhan Singh 1 Oct 29, 2021
Textboxes implementation with Tensorflow (python)

tb_tensorflow A python implementation of TextBoxes Dependencies TensorFlow r1.0 OpenCV2 Code from Chaoyue Wang 03/09/2017 Update: 1.Debugging optimize

Jayne Shin (신재인) 20 May 31, 2019
Play the Namibian game of Owela against a terrible AI. Built using Django and htmx.

Owela Club A Django project for playing the Namibian game of Owela against a dumb AI. Built following the rules described on the Mancala World wiki pa

Adam Johnson 18 Jun 01, 2022
POT : Python Optimal Transport

This open source Python library provide several solvers for optimization problems related to Optimal Transport for signal, image processing and machine learning.

Python Optimal Transport 1.7k Jan 04, 2023
OpenCVを用いたカメラキャリブレーションのサンプルです。2021/06/21時点でPython実装のある3種類(通常カメラ向け、魚眼レンズ向け(fisheyeモジュール)、全方位カメラ向け(omnidirモジュール))について用意しています。

OpenCV-CameraCalibration-Example FishEyeCameraCalibration.mp4 OpenCVを用いたカメラキャリブレーションのサンプルです 2021/06/21時点でPython実装のある以下3種類について用意しています。 通常カメラ向け 魚眼レンズ向け(

KazuhitoTakahashi 34 Nov 17, 2022
Genalog is an open source, cross-platform python package allowing generation of synthetic document images with custom degradations and text alignment capabilities.

Genalog is an open source, cross-platform python package allowing generation of synthetic document images with custom degradations and text alignment capabilities.

Microsoft 235 Dec 22, 2022
Python-based tools for document analysis and OCR

ocropy OCRopus is a collection of document analysis programs, not a turn-key OCR system. In order to apply it to your documents, you may need to do so

OCRopus 3.2k Dec 31, 2022
Camera Intrinsic Calibration and Hand-Eye Calibration in Pybullet

This repository is mainly for camera intrinsic calibration and hand-eye calibration. Synthetic experiments are conducted in PyBullet simulator. 1. Tes

CAI Junhao 7 Oct 03, 2022
Self-supervised Equivariant Attention Mechanism for Weakly Supervised Semantic Segmentation, CVPR 2020 (Oral)

SEAM The implementation of Self-supervised Equivariant Attention Mechanism for Weakly Supervised Semantic Segmentaion. You can also download the repos

Hibercraft 459 Dec 26, 2022
DouZero is a reinforcement learning framework for DouDizhu - 斗地主AI

[ICML 2021] DouZero: Mastering DouDizhu with Self-Play Deep Reinforcement Learning | 斗地主AI

Kwai 3.1k Jan 05, 2023
Slice a single image into multiple pieces and create a dataset from them

OpenCV Image to Dataset Converter Slice a single image of Persian digits into mu

Meysam Parvizi 14 Dec 29, 2022
Train custom VR face tracking parameters

Pal Buddy Guy: The anipal's best friend This is a small script to improve upon the tracking capabilities of the Vive Pro Eye and facial tracker. You c

7 Dec 12, 2021
a micro OCR network with 0.07mb params.

MicroOCR a micro OCR network with 0.07mb params. Layer (type) Output Shape Param # Conv2d-1 [-1, 64, 8,

william 29 Aug 06, 2022