VGPNet

This is the official implementation of the paper VGPNet: a Vision-aided GNSS Positioning Framework with Cross-Channel Feature Fusion for Urban Canyons.

Requirements

• Python 3.6+
• PyTorch 1.7+
• torchvision 0.8+

Installation & Usage

1. Clone the repository:

   git clone https://github.com/hu-xue/VGPNet
   cd VGPNet

2. Install the required packages:

   pip install -r requirements.txt

3. Download the pre-trained models and datasets as specified in the paper.

The processed GNSS and fisheye image datasets can be found at: BaiduNet

4. Run the training and evaluation scripts as described in the paper.

   # Example command to train the model
   python train.py --config_file config/rw1_train.json
   
   # Example command to evaluate the model
   python predict.py --config_file config/rw2_predict.json

Thanks

We would like to thank the authors of the following repositories for their open-source contributions, which have been helpful for our work:

• TDL-GNSS
• pyrtklib