Robust 360-8PA

This is the implementation of our ICRA 2021 " Robust 360-8PA": Redesigning The Normalized 8-point Algorithm for 360-FoV Images" (website project).

Introduction

For a quick introduction (3 min), please here

News

June 3, 2021 - Code release

Sep 12, 2021: Dataset release

Description

This REPO is our own implementation, in python, for a camera pose estimation using the eight-point algorithm [1], the non-linear optimization over residual errors (Gold Standard Method [GSM]) [2], and our method named Robust 360-8PA.

Using this implementation, you can:

Track key-features, using LKT-tracker, from 360-FoV and Fish-eye images (from our MP3D-VO and TUM-VI[3] datasets, respectively).
Sample 3D points from GT 360-depth maps (only for our MP3D-VO dataset), adding noise vMF, and outliers.
Evaluate camera pose, with and without RANSAC, using 8-PA[1], GSM[2], and our Robust 360-8PA.

Further capabilities, analysis and resources are released in the branch dev.

Requirements

python 3.7.7
vispy 0.5.3
numpy 1.18.5
opencv-python 3.4.3.18
pandas 1.0.5
levmar 0.2.3

Dataset

For convenience, our dataset MP3D_VO and TUM_VI [3] will be provided after filling out the following form and agreement VSLAB-Form

Settings

For convience, we implement a < Class config > to load the used settings in this repo, from a yaml file. e.g .config/config_TUM_VI.yaml. You can use the following lines for loading this configuration.

from config import Cfg

 config_file = Cfg.FILE_CONFIG_MP3D_VO # PATH to yaml file
 cfg = Cfg.from_cfg_file(yaml_config=config_file)

the cfg instance is used to set all of the classes and methods in this implementation. e.g.,

# from test/test_tracking_features.py
config_file = Cfg.FILE_CONFIG_TUM_VI    
cfg = Cfg.from_cfg_file(yaml_config=config_file)
tracker = FeatureTracker(cfg)

# from test/test_saving_sampled_bearings.py
config_file = Cfg.FILE_CONFIG_MP3D_VO
cfg = Cfg.from_cfg_file(yaml_config=config_file)
sampler = BearingsSampler(cfg)

# test/test_eval_methods.py
config_file = Cfg.FILE_CONFIG_MP3D_VO
cfg = Cfg.from_cfg_file(yaml_config=config_file)
eval_solvers(cfg)

NOTE: In general cfg is created at the beginning of every script in this implementation, e.g. in plots/plot_cam_pose_errors.py

if __name__ == '__main__':
    config_file = Cfg.FILE_CONFIG_MP3D_VO
    cfg = Cfg.from_cfg_file(yaml_config=config_file)
    plot_sampling_evaluations(cfg)

ENV variables and source this implementation

There are three main ENV variables that have to be modified in env file.

DIR_DATASETS=/HD/datasets  #path to root dir of datasets
MP3D_VO_DATASET=${DIR_DATASETS}/ICRA2021  # path to MP3D-VO dataset
TUM_VI_DATASET=${DIR_DATASETS}/TUM_VI       # path to TUM-VI dataset

After this. You should source the setup.sh to export these variables and set the current implementation into your PYTHONPATH. This can be added to your .bashrc file if your are using LINUX.

# from root of this REPO
source setup.bash

RUN FILES

To run this implementation, we present several run test files in /test:

/test/test_tracking_features.py
/test/test_saving_tracked_features.py
/test/test_saving_sampled_bearings.py
/test/test_read_saved_bearings.py
/test/test_eval_methods.py
/test/test_eval_ransac_methods.py

In order to run one of these files, you just need to execute them as normal python script. e.g.

python test/test_eval_ransac_methods.py

output

Number of evaluated bearings: 400
Rot-e:6.135843e-02      Tran-e:1.302335e-01     ransac_8pa
Rot-e:5.519852e-02      Tran-e:8.634036e-02     ransac_opt_SK
Rot-e:6.127112e-02      Tran-e:9.963809e-02     ransac_GSM
Rot-e:3.659004e-02      Tran-e:8.599553e-02     ransac_GSM_const_wRT
Rot-e:2.893354e-02      Tran-e:5.370007e-02     ransac_GSM_const_wSK

To plot the MAE evaluations (median absolute errors), you can run:

python plots/plot_cam_pose_errors.py

Acknowledgement

Credit of this repo is shared with Chin-Hsuan Wu.

Citation

Please cite our paper for any purpose of usage.

@INPROCEEDINGS{9560888,
  author={Solarte, Bolivar and Wu, Chin-Hsuan and Lu, Kuan-Wei and Tsai, Yi-Hsuan and Chiu, Wei-Chen and Sun, Min},
  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)}, 
  title={Robust 360-8PA: Redesigning The Normalized 8-point Algorithm for 360-FoV Images}, 
  year={2021},
  volume={},
  number={},
  pages={11032-11038},
  doi={10.1109/ICRA48506.2021.9560888}}

References

[1]: Longuet-Higgins, H. C. (1981). A computer algorithm for reconstructing a scene from two projections. Nature, 293(5828), 133-135.

[2]: A. Pagani and D. Stricker, "Structure from Motion using full spherical panoramic cameras," 2011 IEEE International Conference on Computer Vision Workshops (ICCV Workshops), 2011, pp. 375-382, doi: 10.1109/ICCVW.2011.6130266.

[3]: Schubert, D., Goll, T., Demmel, N., Usenko, V., Stückler, J., & Cremers, D. (2018, October). The TUM VI benchmark for evaluating visual-inertial odometry. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 1680-1687). IEEE.

EnriqueSolarte/robust_360_8PA