image_navigation_matlab's Introduction

Matlab demo for our CVPR'2019 paper

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

This code was tested in MATLAB R2017b and with mosek 8.1.0.64.

Please, run the code in 'demo.m' to view our demo. You have to adjust the path to your mosek directory inside 'demo.m'.

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

Find landmarks in a subsequence of the Oxford Robotcar run from 2015-10-29 12:18:17
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

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image_navigation_matlab's Issues

Error occurs when running the code 'demo.m'

I have read the CVPR'2019 paper. It is impressed me a lot about formulating requirements for map building and localization and experiments do show the benefit from this such a map representation.

Now, I have setup the same MATLAB toolbox and run on MATLAB R2017b, but some errors occur shown as follows. My working environment is Ubuntu 16.04. Is it the possible for making error when running under this environment?

Error using  - 
Matrix dimensions must agree.

Error in match_with_flow (line 11)
s = mean(sqrt(sum((ref_xy - t).^2, 1)));

Error in demo (line 117)
flow_matches = match_with_flow(query.xy,ref.xy(:,flow_lm),F(:,flow_lm),0);

Matlab version issue

Hi Janine,

Thanks for the public code first. When I run the demo.m file, there is a problem popped out, which is
Java exception occurred:
Index (22045) is out of bounds
at mosek.fusion.PickVariable.(Unknown Source)
at mosek.fusion.BaseVariable.pick(Unknown Source)

What is that and how can I fix this problem? Thanks

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image_navigation_matlab's Introduction

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

image_navigation_matlab's People

Contributors

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image_navigation_matlab's Issues

Error occurs when running the code 'demo.m'

Matlab version issue

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