/GeoCluster

Enhancing Visual Place Recognition in Spatial Domain on Aerial Vehicle Platforms.

Primary LanguagePythonMIT LicenseMIT

GeoCluser

Enhancing Visual Place Recognition in Spatial Domain on Aerial Vehicle Platforms.

Aerial localisation
image

Prerequisites

  • torch
  • torchvision
  • opencv-python
  • tensorboard
  • matplotlib
  • sklearn
  • numpy

Please see "requirements.txt" for a detailed list of packages and versions.

The code expects data to be in the following directory structure:

experiment\
├── features
|   ├── Beijing
|   |   ├── Beijing_feature_GeoCluser_1.00.npy
|   |   ├── Beijing_feature_GeoCluser_0.85.npy
|   |   ├── Beijing_feature_GeoCluser_0.85.npy
├── map
|   ├── Beijing.tif   
├── query_images
|   ├── Beijing_query
|   |   ├── 0.png
|   |   ├── 1.png
├── route
|   ├──Beijing_route.npy
├── tiles
|   ├── Beijing_ref_scale_0.85
|   |    ├── 0.png
|   |    ├── 1.png
|   ├── Beijing_ref_scale_1.00
|   |    ├── 0.png
|   |    ├── 1.png
|   ├── Beijing_ref_scale_1.35
|   |    ├── 0.png
|   |    ├── 1.png

Note: scale_1.00, scale_0.85, scale_1.35 refer to the scale of the map tile image and the camera image.

Quick start

If there is no database, put the database image into experiment/tiles/:

python main.py --model=GeoCluster --mode=Pre

If the database already exists:

python main.py --model=GeoCluster --mode=PF

License + attribution/citation

When using code within this repository, please refer the following paper in your publications:

@ARTICLE{10423811,
  author={Chen, Chao and He, Mengfan and Wang, Jun and Meng, Ziyang},
  journal={IEEE Robotics and Automation Letters}, 
  title={GeoCluster: Enhancing Visual Place Recognition in Spatial Domain on Aerial Vehicle Platforms}, 
  year={2024},
  volume={9},
  number={3},
  pages={3013-3020},
  keywords={Feature extraction;Visualization;Task analysis;Training;Location awareness;Databases;Autonomous aerial vehicles;Vision-based navigation;localization;recognition;deep learning for visual perception},
  doi={10.1109/LRA.2024.3363536}}