unav 0.1.2

UNav is designed for helping navigation of visually impaired people

:rocket: UNav

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UNav is a vision-based location system designed to assist visually impaired individuals in navigating unfamiliar environments.

:sparkles: New Features

• May 29, 2023. Support Parallel RanSAC computing

More

:wrench: Dependencies and Installation

• Python >= 3.8 (Recommend to use Anaconda or Miniconda)
• PyTorch >= 1.13
• NVIDIA GPU + CUDA

1. Clone repo

   git clone https://github.com/endeleze/UNav.git
   

2. Install dependent packages

   cd UNav
   pip install -r requirements.txt
   

:computer: Using

1. Server-Client

   • Setup server.yaml and tune hloc.yaml us needed.

   • Put the data into IO_root you defined as following structure

     UNav-IO/
     ├── data
     │   ├── destination.json
     │   ├── PLACE
     │   │   └── BUILDING
     │   │       └── FLOOR
     │   │           ├── access_graph.npy
     │   │           ├── boundaries.json
     │   │           ├── feats-superpoint.h5
     │   │           ├── global_features.h5
     │   │           ├── topo-map.json
     │   │           └── floorplan.png
     

     Note that you need to rerun Path_finder_waypoints.py using step2_automatically.sh if you do not have access_graph.npy

   • Run server using

     source shell/server.sh
     

   • Run client device

     • Jetson Board
     • Android

2. Visualization-GUI TODO

Note that UNav is only tested in Ubuntu, and may be not suitable for Windows or MacOS.

:hourglass_flowing_sand: TODO List

Please see project boards.

:e-mail: Contact

If you have any question, please email [e-mail].