This repository is for providing code for CVPR 2024 submission.

Installation

Prerequisite

Following libraries are required.
Please follow installation guide below to avoid dependency and path issues.

• PyTorch
• OpenCV
• MiDaS
• PaddleOCR

PyTorch

We tested with torch version 2.3.1.
Please install with pip to avoid dependency issue with PaddleOCR.

pip install torch torchvision

PaddleOCR

We tested with paddlepaddle version 2.5.0 and paddleocr version 2.6.1.3.

python -m pip install paddlepaddle-gpu==2.5.0 -i https://pypi.tuna.tsinghua.edu.cn/simple
pip install paddleocr==2.6.1.3

Other dependencies

pip install -r requirements.txt

Run test

Directory query_imgs contains sample pictures.
File free_area_dense.csv contains navigable locations in the human readable map. (Over 3 milion points)
File store_info_eng.csv contains store names and locations extracted from the human readable map.

Due to the personal information, limited number of samples are provided for real world experiment.
The experiment in the paper includes more pictures.

python run_localization_realworld.py

# Visualixation
python run_localization_realworld.py --visualize