LPD-Net

Refer to PointNetVlad and LPD-Net

Pre-Requisites

• PyTorch 1.4.0
• tensorboardX

Benchmark Datasets

The benchmark datasets introdruced in this work can be downloaded here, which created by PointNetVLAD for point cloud based retrieval for place recognition from the open-source Oxford RobotCar. Details can be found in PointNetVLAD.

• All submaps are in binary file format
• Ground truth GPS coordinate of the submaps are found in the corresponding csv files for each run
• Filename of the submaps are their timestamps which is consistent with the timestamps in the csv files
• Use CSV files to define positive and negative point clouds
• All submaps are preprocessed with the road removed and downsampled to 4096 points

Oxford Dataset

• 45 sets in total of full and partial runs
• Used both full and partial runs for training but only used full runs for testing/inference
• Training submaps are found in the folder "pointcloud_20m_10overlap/" and its corresponding csv file is "pointcloud_locations_20m_10overlap.csv"
• Training submaps are not mutually disjoint per run
• Each training submap ~20m of car trajectory and subsequent submaps are ~10m apart
• Test/Inference submaps found in the folder "pointcloud_20m/" and its corresponding csv file is "pointcloud_locations_20m.csv"
• Test/Inference submaps are mutually disjoint

Dataset set-up

Download the zip file of the benchmark datasets found here.

Generate pickle files

cd generating_queries/

# For training tuples in our baseline network
python generate_training_tuples_baseline.py

# For training tuples in our refined network
# python generate_training_tuples_refine.py

# For network evaluation
python generate_test_sets.py

Train

python train_pointnetvlad.py --batch_num_queries=2 --pretrained_path=./pretrained/lpdnet.ckpt

Evaluate

python train_pointnetvlad.py --featnet=pointnet --batch_num_queries=1 --eval_batch_size=2 --pretrained_path=./pretrained/pointnet.ckpt --eval
python train_pointnetvlad.py --eval_batch_size=5 --eval --pretrained_path=./pretrained/lpdnet.ckpt

Take a look atinitPara for more parameters