Matchable Image Transformations for Long-term Visual Localization
Code to accompany our paper "Learning Maximally Matchable Image Transformations for Long-term Metric Visual Localization".
- pytorch 1.1 + torchvision
- progress (for progress bars in train/val/test loops)
- pyviso2 (included)
run_vkitti.py- Top-level script for training and testing models using the Virtual KITTI dataset.
run_inthedark.py- Top-level script for training and testing models using the UTIAS In The Dark dataset.
matchability/- Main codebase.
datasets/- Modules for loading and pre-processing the Virtual KITTI and UTIAS In The Dark datasets for use with PyTorch.
experiment.py- General training, validation and testing loops.
models.py- Definitions for matcher proxy and image transformation models.
networks.py- General-purpose neural network classes, specialized in
options.py- Defines a container class to store configuration parameters and provides common defaults.
transforms.py- Custom image/tensor transformations.
utils.py- Miscellaneous utility functions.
scripts/- Scripts for producing figures and videos used in the paper.