This is an implementation of the state-of-the-art visual place recognition algorithm described in
@inproceedings{Sattler16CVPR,
author = {Sattler, Torsten and Havlena, Michal and Schindler, Konrad and Pollefeys},
title = {Large-Scale Location Recognition And The Geometric Burstiness Problem},
booktitle={IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
year={2016},
}
It implements the DisLocation retrieval engine described in
@Inproceedings{Arandjelovic14a,
author = "Arandjelovi\'c, R. and Zisserman, A.",
title = "{DisLocation}: {Scalable} descriptor distinctiveness for location recognition",
booktitle = "Asian Conference on Computer Vision",
year = "2014",
}
as a baseline system and adds different scoring functions based on which the images are ranked:
- re-ranking based on the raw retrieval scores,
- re-ranking based on the number of inlier found for each of the top-ranked database images when fitting an approximate affine transformation,
- re-ranking based on the effective inlier count that takes the distribution of the inlier features in the query image into account,
- re-ranking based on the inter-image geometric burstiness measure, which downweights the impact of features found in the query image that are inliers to many images in the database,
- re-ranking based on the inter-place geometric burstiness measure, which downweights the impact of features found in the query image that are inliers to many places in the scene,
- re-ranking based on the inter-place geometric burstiness measure, which downweights the impact of features found in the query image that are inliers to many places in the scene and also takes the popularity of the different places into account.
This software is licensed under the BSD 3-Clause License (also see https://opensource.org/licenses/BSD-3-Clause):
Copyright (c) 2016, ETH Zurich
All rights reserved.
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation and/or
other materials provided with the distribution.
3. Neither the name of the copyright holder nor the names of its contributors
may be used to endorse or promote products derived from this software without
specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
If you are using this software for a scientific publication, you need to cite the two following publications:
@inproceedings{Sattler16CVPR,
author = {Sattler, Torsten and Havlena, Michal and Schindler, Konrad and Pollefeys},
title = {Large-Scale Location Recognition And The Geometric Burstiness Problem},
booktitle={IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
year={2016},
}
@Inproceedings{Arandjelovic14a,
author = "Arandjelovi\'c, R. and Zisserman, A.",
title = "{DisLocation}: {Scalable} descriptor distinctiveness for location recognition",
booktitle = "Asian Conference on Computer Vision",
year = "2014",
}
In order to compile the software, the following software packages are required:
- CMake version 2.6 or higher (http://www.cmake.org/)
- Eigen 3.2.1 or higher (http://eigen.tuxfamily.org/)
- FLANN (https://github.com/mariusmuja/flann)
- C++11 or higher
In order to compile the software under Linux, follow the instructions below:
- Go into the order into which you cloned the repository.
- Make sure the include and library directories in
FindEIGEN.cmakeandFindFLANN.cmakeincmake/are correctly set up. - Create a directory for compilation:
mkdir build/ - Create a directory for installation:
mkdir release/ - Compile the source code:
cd build/cmake cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=../release ..make -jmake install
This software was developer under Linux and has only been tested on Linux so far. However, it should also compile under Windows and Mac OS X as it does not depend on Linux-specific libraries. It might be necessary to adjust the CMake files though.