360Loc: Omnidirectional Visual Localization with Cross-device Queries

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360Loc: A Dataset and Benchmark for Omnidirectional Visual Localization with Cross-device Queries <br> Huajian Huang*¹, Changkun Liu*¹, Yipeng Zhu¹, Hui Cheng², Tristan Braud¹ and Sai-Kit Yeung¹ <br> <em>* equal contribution</em><br> The Hong Kong University of Science and Technology¹, Sun Yat-Sen University² <br> In Proceedings of Computer Vision and Pattern Recognition Conference (CVPR), 2024<br>

Usage

To save the store space and facilitate data access, we only store the original 360-degree images of query and inference. You can use this tool to generate required images in fisheye and pinhole cameras.

git clone https://github.com/HuajianUP/360Loc.git
pip install json tqdm yaml numpy opencv-python requests

You can download the 360Loc dataset link and unzip them in the folder ./360Loc.

360Loc
├── atrium
│   ├── camera_config
│   ├── pose
│   ├── mapping
│   ├── query_360
│   ├── query_pinhole
│   ├── query_fisheye1
│   ├── query_fisheye2
│   └── query_fisheye3
├── ....
│
└── piatrium
    ├── camera_config
    ├── ....
    └── query_fisheye3

And then run the below command to process the data.

python process.py --dir PATH_TO_360LOC_DATASET

We also provide a script to download and process the 360Loc dataset automatically.

python onekey.py --dir PATH_TO_SAVE_360LOC_DATASET

Pose Format

We provide both json poses files and txt poses files.

For .json poses files: We give 4*4 matrix image_name: [R|T]， T are camera to world coordinates.

For .txt poses files: image_name x y z qw qx qy qz.

x, y, z are camera to world coordinates. Our 6DoF poses follow the COLMAP coordinate system.

<h3 id="citation">Citation</h3> <pre class="citation-code"><code><span>@inproceedings</span>{360Loc, title = {360Loc: A Dataset and Benchmark for Omnidirectional Visual Localization with Cross-device Queries}, author = {Huang, Huajian and Liu, Changkun and Zhu, Yipeng and Cheng Hui and Braud, Tristan and Yeung, Sai-Kit}, booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition}, year = {2024} }</code></pre>