| # Cambridge Landmarks dataset | |
| ## Installation | |
| Download the dataset from the [PoseNet project page](http://mi.eng.cam.ac.uk/projects/relocalisation/): | |
| ```bash | |
| export dataset=datasets/cambridge | |
| export scenes=( "KingsCollege" "OldHospital" "StMarysChurch" "ShopFacade" "GreatCourt" ) | |
| export IDs=( "251342" "251340" "251294" "251336" "251291" ) | |
| for i in "${!scenes[@]}"; do | |
| wget https://www.repository.cam.ac.uk/bitstream/handle/1810/${IDs[i]}/${scenes[i]}.zip -P $dataset \ | |
| && unzip $dataset/${scenes[i]}.zip -d $dataset && rm $dataset/${scenes[i]}.zip; done | |
| ``` | |
| Download the SIFT SfM models, courtesy of Torsten Sattler: | |
| ```bash | |
| export fileid=1esqzZ1zEQlzZVic-H32V6kkZvc4NeS15 | |
| export filename=$dataset/CambridgeLandmarks_Colmap_Retriangulated_1024px.zip | |
| wget --load-cookies /tmp/cookies.txt "https://docs.google.com/uc?export=download&confirm=$(wget --quiet --save-cookies /tmp/cookies.txt --keep-session-cookies --no-check-certificate "https://docs.google.com/uc?export=download&id=$fileid" -O- | sed -rn 's/.*confirm=([0-9A-Za-z_]+).*/\1\n/p')&id=$fileid" -O $filename && rm -rf /tmp/cookies.txt | |
| unzip $filename -d $dataset | |
| ``` | |
| ## Pipeline | |
| ```bash | |
| python3 -m hloc.pipelines.Cambridge.pipeline | |
| ``` | |
| ## Results | |
| We report the median error in translation/rotation in cm/deg over all scenes: | |
| | Method \ Scene | Court | King's | Hospital | Shop | St. Mary's | | |
| | ------------------------ | --------------- | --------------- | --------------- | -------------- | -------------- | | |
| | Active Search | 24/0.13 | 13/0.22 | 20/0.36 | **4**/0.21 | 8/0.25 | | |
| | DSAC* | 49/0.3 | 15/0.3 | 21/0.4 | 5/0.3 | 13/0.4 | | |
| | **SuperPoint+SuperGlue** | **17**/**0.11** | **12**/**0.21** | **14**/**0.30** | **4**/**0.19** | **7**/**0.22** | | |
| ## Citation | |
| Please cite the following paper if you use the Cambridge Landmarks dataset: | |
| ``` | |
| @inproceedings{kendall2015posenet, | |
| title={{PoseNet}: A convolutional network for real-time {6-DoF} camera relocalization}, | |
| author={Kendall, Alex and Grimes, Matthew and Cipolla, Roberto}, | |
| booktitle={ICCV}, | |
| year={2015} | |
| } | |
| ``` | |