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Python demo for our CVPR'2019 paper

Mapping, Localization and Path Planning for Image-based Navigation using Visual Features and Map

This code was tested with Python 3.8 and mosek 9.2.29. The easiest way to install mosek is:

conda install -c mosek mosek

Please, execute 'demo.py' to view our demo.

This demo does the following using the concepts introduced in our paper:

  1. Find landmarks in a subsequence of the Oxford Robotcar run from 2015-10-29 12:18:17
  2. Match a short query sequence from 2014-11-18 13:20:12

The precalculated feature distances in this demo are based on features extracted with a VGG-16 + NetVLAD + whitening network. We use the Off-the-shelf on Pitts30k model available on the NetVLAD project page in combination with this NetVLAD TensorFlow implementation.

If you do not have mosek installed, you can have a look at the saved figures in the results folder instead.

The produced outputs are:

  • Scatter plot of original reference and query sequences
  • Topology of reference sequence used for finding landmarks with network flow
  • Selected landmarks
  • Accuracy vs. distance plot of the final matching