KITTI: please refer to https://github.com/shiyujiao/HighlyAccurate to download the dataset. Your dataset folder structure should be like:
KITTI: raw_data: 2011_09_26: 2011_09_26_drive_0001_sync: image_00: image_01: image_02: image_03: calib_cam_to_cam.txt 2011_09_28: 2011_09_29: 2011_09_30: 2011_10_03: satmap: 2011_09_26: 2011_09_26_drive_0001_sync： 2011_09_29: 2011_09_30: 2011_10_03:
Ford multi-AV: please refer to https://github.com/shiyujiao/HighlyAccurate to download the dataset. Your dataset folder structure should be like:
Ford: 2017-08-04: V2: Log1: 2017-08-04-V2-Log1-FL: SatelliteMaps_18: grd_sat_quaternion_latlon.txt grd_sat_quaternion_latlon_test.txt 2017-10-26: Calibration-V2:
VIGOR: please refer to https://github.com/Jeff-Zilence/VIGOR and https://github.com/tudelft-iv/SliceMatch to download the dataset. Your dataset folder structure should be like:
VIGOR: Chicago: panorama: satellite: NewYork: SanFrancisco: Seattle: splits_corrected：
Oxford RobotCar: For instructions on how to obtain the dataset, please visit https://github.com/tudelft-iv/CrossViewMetricLocalization.
- Training:
python BEV_KITTI_train.py
python BEV_Ford_train.py --train_log_start 0 --train_log_end 1 python BEV_Ford_train.py --train_log_start 1 --train_log_end 2
python BEV_VIGOR_train.py --area cross --rotation_range 0 python BEV_VIGOR_train.py --area cross --rotation_range 180 python BEV_VIGOR_train.py --area same --rotation_range 0 python BEV_VIGOR_train.py --area same --rotation_range 180
python BEV_oxford_train.py
- Evaluation:
python BEV_KITTI_test.py
python BEV_Ford_test.py -- test_log_ind 0 python BEV_Ford_test.py -- test_log_ind 1
python BEV_VIGOR_test.py --area cross --rotation_range 0 python BEV_VIGOR_test.py --area cross --rotation_range 180 python BEV_VIGOR_test.py --area same --rotation_range 0 python BEV_VIGOR_test.py --area same --rotation_range 180
python BEV_oxford_test.py
- Some files from the Oxford dataset
Some files from the Oxford dataset can be downloaded here and then placed in the dataLoader directory. https://drive.google.com/drive/folders/1B4RAqGwECydLgj4eeAVtnOxx8ob6sNBn?usp=drive_link