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This repository contains the code for our papers "Learning Condition Invariant Features for Retrieval-Based Localization from 1M Images" and "Geometrically Mappable Image Features".

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Learning Condition Invariant Features for Retrieval-Based Localization from 1M Images

This repository contains the code for our papers Learning Condition Invariant Features for Retrieval-Based Localization from 1M Images and Geometrically Mappable Image Features. The corresponding models and training/testing image lists can be downloaded here.

This code was tested using TensorFlow 1.10.0 and Python 3.5.6.

It uses the following git repositories as dependencies:

The training data can be downloaded using:

Models used in Learning Condition Invariant Features for Retrieval-BasedLocalization from 1M Images Table 2

Name Model
I: Triplet triplet_5e-6_all_conditions_angle_1-4_cu_LRD0.9-5_noPCA_lam0.5_me0
I: Quadruplet quadruplet_5e-6_all_conditions_angle_1-4_cu_LRD0.9-5_noPCA_lam0.5_me0
I: Lazy triplet lazy_triplet_5e-6_all_conditions_angle_1-4_cu_LRD0.9-5_noPCA_lam0.5_me0
I: Lazy quadruplet lazy_quadruplet_5e-6_all_conditions_angle_1-4_cu_LRD0.9-5_noPCA_lam0.5_me0
I: Triplet + distance sum_5e-6_all_conditions_angle_1-4_cu_LRD0.9-5_noPCA_lam0.5_me0
I: Triplet + Huber dist. h_sum_5e-6_all_conditions_angle_1-4_cu_LRD0.9-5_noPCA_lam0.5_me0
II: Triplet triplet_5e-6_full-10-25_cu_LRD0.9-5_noPCA_lam0.5_me0
II: Quadruplet quadruplet_5e-6_full-10-25_cu_LRD0.9-5_noPCA_lam0.5_me0
II: Lazy triplet lazy_triplet_5e-6_full-10-25_cu_LRD0.9-5_noPCA_lam0.5_me0
II: Lazy quadruplet lazy_quadruplet_5e-6_full-10-25_cu_LRD0.9-5_noPCA_lam0.5_me0
II: Triplet + Huber dist.~ h_sum_5e-6_full-10-25_cu_LRD0.9-5_noPCA_lam0.5_me0
III: Triplet triplet_xy_000
III: Quadruplet quadruplet_xy_000
III: Lazy triplet lazy_triplet_xy_000
III: Lazy quadruplet lazy_quadruplet_xy_000
III: Triplet + distance distance_triplet_xy_000
III: Triplet + Huber dist. huber_distance_triplet_xy_000
III: Triplet + HP evil_triplet_hp_001
III: Quadruplet + HP evil_quadruplet_hp_001
III: Volume without HP ha0_loresidual_det_muTrue_renone_vl64_pca_eccv_000
III: Volume without HP* ha0_loresidual_det_muTrue_renone_vl0_pca_eccv_001
III: Volume residual_det_0.0_eccv_000
III: Volume* residual_det_512_none_0_fc_eccv_000
IV: Triplet pittsnetvlad
V: Off-the-shelf offtheshelf

Models used in Geometrically Mappable Image Features Figure 3

Name Oxford Model
Off-the-shelf offtheshelf
Triplet + dist. distance_triplet_xy_000
Triplet + Huber dist. huber_distance_triplet_xy_000
Lazy quad. + dist. distance_lazy_quadruplet_xy_000
Lazy quad. + Huber dist. huber_distance_lazy_quadruplet_xy_000
Dist. distance_xy_000
Huber huber_distance_xy_000
Triplet triplet_xy_000
Quadruplet quadruplet_xy_000
Lazy triplet lazy_triplet_xy_000
Lazy quadruplet lazy_quadruplet_xy_000
Name COLD Model
Off-the-shelf offtheshelf
Triplet + dist. sum_5e-6_all_conditions_angle_1-4_cu_LRD0.9-5_noPCA_lam0.5_me0
Triplet + Huber dist. h_sum_5e-6_all_conditions_angle_1-4_cu_LRD0.9-5_noPCA_lam0.5_me0
Lazy quad. + dist. nlq_5e-6_all_conditions_angle_1-4_cu_LRD0.9-5_noPCA_lam0.5_me0
Lazy quad. + Huber dist. hlq_5e-6_all_conditions_angle_1-4_cu_LRD0.9-5_noPCA_lam0.5_me0
Dist. simple_dist_5e-6_all_conditions_angle_1-4_cu_LRD0.9-5_noPCA_lam0.5_me0
Huber huber_5e-6_all_conditions_angle_1-4_cu_LRD0.9-5_noPCA_lam0.5_me0
Triplet triplet_5e-6_all_conditions_angle_1-4_cu_LRD0.9-5_noPCA_lam0.5_me0
Quadruplet quadruplet_5e-6_all_conditions_angle_1-4_cu_LRD0.9-5_noPCA_lam0.5_me0
Lazy triplet lazy_triplet_5e-6_all_conditions_angle_1-4_cu_LRD0.9-5_noPCA_lam0.5_me0
Lazy quadruplet lazy_quadruplet_5e-6_all_conditions_angle_1-4_cu_LRD0.9-5_noPCA_lam0.5_me0

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This repository contains the code for our papers "Learning Condition Invariant Features for Retrieval-Based Localization from 1M Images" and "Geometrically Mappable Image Features".

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