kapture-localization: localization pipelines based on kapture.
Project description
= kapture-localization: toolbox :sectnums: :sectnumlevels: 1 :toc: macro :toclevels: 2
toc::[]
== Overview
kapture-localization is a toolbox in which you will find implementations for various localization related algorithms. It strongly relies on the https://github.com/naver/kapture[kapture] format for data representation and manipulation.
The localization algorithms include:
. mapping, . localization, and . benchmarking (image retrieval for visual localization).
It works on Ubuntu, Windows, and MacOS.
== Structure
The directories are organised as follow:
├── kapture_localization/ # package (library) ├── pipeline/ # main programs executing all steps of the localization pipelines ├── samples/ # some sample data ├── tests/ # unit tests └── tools/ # sub programs involved in the pipeline
The kapture-localization toolbox is available as:
- Python package (
kapture_localization/
), - Python executable scripts (
pipeline/
&tools/
).
There are 3 pipelines available:
. mapping, . localization, and . image retrieval benchmark (global sfm, local sfm, pose approximation).
== Installation
It can be installed using docker, pip or from manually from source code. After installing python (>=3.8) and COLMAP (>=3.6), this toolbox can be installed with:
[source,bash]
pip install kapture-localization
See link:doc/installation.adoc[] for more details.
== Tutorial
See link:doc/tutorial.adoc[doc/tutorial] for a short introduction and examples of the provided processing pipelines.
== Contributing
There are many ways to contribute to the kapture-localization project:
- provide feedback and suggestion,
- submit bug reports in the project bug tracker,
- implement a feature or bug-fix for an outstanding issue,
- provide scripts to create data in kapture format (e.g. local/global feature extraction),
- propose a new feature and implement it.
// TODO individual page for kapture-localization ? If you wish to contribute, please refer to the link:https://github.com/naver/kapture/blob/main/CONTRIBUTING.adoc[CONTRIBUTING] page.
== License Software license is detailed in the link:LICENSE[LICENSE] file.
== References If you use this work for your research, please cite the respective paper(s):
.Structure-based localization or kapture format
@misc{kapture2020, title={Robust Image Retrieval-based Visual Localization using Kapture}, author={Martin Humenberger and Yohann Cabon and Nicolas Guerin and Julien Morat and Jérôme Revaud and Philippe Rerole and Noé Pion and Cesar de Souza and Vincent Leroy and Gabriela Csurka}, year={2020}, eprint={2007.13867}, archivePrefix={arXiv}, primaryClass={cs.CV} }
.Image retrieval benchmark
@inproceedings{benchmarking_ir3DV2020, title={Benchmarking Image Retrieval for Visual Localization}, author={Noé Pion, Martin Humenberger, Gabriela Csurka, Yohann Cabon, Torsten Sattler}, year={2020}, booktitle={International Conference on 3D Vision} }
@article{humenberger2022investigating, title={Investigating the Role of Image Retrieval for Visual Localization}, author={Humenberger, Martin and Cabon, Yohann and Pion, No{'e} and Weinzaepfel, Philippe and Lee, Donghwan and Gu{'e}rin, Nicolas and Sattler, Torsten and Csurka, Gabriela}, journal={International Journal of Computer Vision}, year={2022}, publisher={Springer} }
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