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InLoc demo

This toolkit provides scalable indoor visual localization (InLoc) demo on InLoc dataset. Please send bug reports and suggestions to htaira@ok.ctrl.titech.ac.jp, torii@sc.e.titech.ac.jp .

2019.5.1 Update. We open an online evaluation tool for visual localization on the InLoc dataset (https://www.visuallocalization.net/). The tool accepts the localization results in text format. Please use functions/utils/ImgList2text.m in this repository to convert .mat result file to the proper text format.

Installation

Quick Start

Outputs

InLoc_demo generates the matfile outputs/densePV_top10_shortlist.mat that contains localization results. It includes a struct array named ImgList that consists of fields named queryname (query image name), topNname (N retrieved database images), topNscore (retrieval scores), and P (estimated 6 DoF query poses [R t]). We are planning to build a evaluation server that computes the quantitative localization errors for the result files following this format. Until then, we can evaluate your own localization results if you send it to htaira@ok.ctrl.titech.ac.jp.

Details: Run InLoc with your own features and image retrieval

LICENSE

Copyright (c) 2017 Hajime Taira

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

If you use our data and Software, please cite our paper: 

@inproceedings{taira2018inloc, 
  title={{InLoc}: Indoor Visual Localization with Dense Matching and View Synthesis}, 
  author={Taira, Hajime and Okutomi, Masatoshi and Sattler, Torsten and Cimpoi, Mircea and Pollefeys, Marc and Sivic, Josef and Pajdla, Tomas and Torii, Akihiko}, 
  booktitle={{CVPR}}, 
  year={2018} 
}

and the paper presenting original Wustl Indoor RGBD dataset: 

@inproceedings{wijmans17rgbd,
  author = {Erik Wijmans and
            Yasutaka Furukawa},
  title = {Exploiting 2D Floorplan for Building-scale Panorama RGBD Alignment},
  booktitle = {Computer Vision and Pattern Recognition, {CVPR}},
  year = {2017},
  url = {http://cvpr17.wijmans.xyz/CVPR2017-0111.pdf}
}