Image Retrieval Testbed for Indoor Robot Global Localization

This repository is for testing image retrieval methods for robot global localization.
It provides a test on indoor environments from Matterport3D Dataset.
Hierarchical Localization toolbox (hloc) is mainly tested for the image retrieval method.

Following features are implemented.

• Extract image retrieval database using Habitat-Sim
• Test hloc toolbox in various indoor environments

If you are interested in more information, please visit our blog.

Installation

Prerequisite

Three 3rd party libraries are required.

• Habitat-Sim
• Habitat-Lab
• Hierarchical Localization toolbox
• Matterport3D Dataset

Habitat-Sim

Offical installation guide for Habitat-Sim We tested with habitat-sim version v0.2.1 and v0.2.2, but higher version should work.

# Make conda env
conda create -n habitat python=3.9 cmake=3.14.0
# Install with pybullet & GUI
conda install habitat-sim withbullet -c conda-forge -c aihabitat
# (Optional) When you get stuck in "Solving environment", put this command and try again
conda config --set channel_priority flexible

Habitat-Lab

Offical installation guide for Habitat-Lab
We tested with habitat-lab version v0.2.1 and v0.2.2, but higher version should work.

git clone --branch stable https://github.com/facebookresearch/habitat-lab.git
cd habitat-lab
pip install -e habitat-lab

Hierarchical Localization toolbox

Offical installation guide for Hierarchical Localization toolbox
Only difference is that we used develop flag package installation to import 3rd party in hloc.
We tested with hloc version v1.3.

git clone --recursive https://github.com/cvg/Hierarchical-Localization/
cd Hierarchical-Localization/

pip install -r requirements.txt
git submodule update --init --recursive
python setup.py develop  # To import 3rd party in `hloc`

Matterport3D Dataset

Matterport3D dataset is required for test in various indoor environments.
To get this dataset, please visit here and submit Terms of Use agreement.
You will get download_mp.py file after you submit the form.

# Download dataset. Need python 2.7. Dataset is about 15GB.
python2 download_mp.py --task habitat -o /your/path/to/download

# Make dataset directory.
# If you don't want to store dataset in this repo directory, fix SCENE_DIRECTORY in config file
cd hloc_retrieval_test  # clone of this repository
mkdir Matterport3D
cd Matterport3D

# Unzip 
unzip /your/path/to/download/v1/tasks/mp3d_habitat.zip -d ./

Set Up

git clone git@github.com:kc-ml2/hloc_retrieval_test.git
cd hloc_retrieval_test
pip install -r requirements.txt

# Test installation. This needs Matterport3D dataset below
python run_sim.py

Pipeline

Step 1. Generate top-down grid map image

# Because this step generates maps of all spaces(scenes), it takes quite a while
# We've already uploaded the result in ./data/, so you can skip this
python generate_grid_map.py

Step 2. Generate database from grid map

# This step generates graph map, and gathers RGB observations assigned to each node
# It will occupy about 18GB of disk memory
python generate_map_observation.py

Step 3. Run "Hierarchical Localization toolbox"

# This step extracts NetVLAD, Superpoint features and matching result
# It will occupy about 32GB of disk memory
python generate_hloc_feature.py

Step 4. Run test on all scenes(spaces)

# Run global localization (retrieval) with graph map (database) and samples
# It iterates all scenes in scene_list_{setting}.txt file
python run_retrieval_test.py
# For visualization of each result and false case observation
python run_retrieval_test.py --visulaize

Supported Methods

Method 1. Hierarchical Localization (NetVLAD + Superpoint)

• This method is from hloc toolbox
• See config/concat_fourview_69FOV_HD.py for example
• NetVLAD pre-trained weight is from hloc toolbox
• Superpoint pre-trained weight for is from SuperGlue by Magic Leap

Method 2. Hierarchical Localization (NetVLAD only)

• This method is from hloc toolbox
• See config/concat_fourview_69FOV_NetVLAD_only.py for example
• NetVLAD pre-trained weight is from hloc toolbox

Method 3. Brute-force matching (ORB)

• Brute-force matching ORB descriptors from two images. Top 30 matches are used for getting score
• It does not use DBOW for better accuracy
• See config/concat_fourview_69FOV_HD_ORB.py for example

Result

For more information about metric, please visit our blog.
Hierarchical localization (NetVLAD + Superpoint) performs best for image retrieval in Habitat-Sim.
It is also superior in our real-world test scenario.

Environment	Method	Accuracy	Distance [m] (std)
simulator	ORB (brute force match)	0.930	0.338 (0.574)
simulator	NetVLAD	0.967	0.234 (0.383)
simulator	NetVLAD + Superpoint	0.982	0.174 (0.289)
real world	ORB (brute force match)	0.799	1.373 (3.714)
real world	NetVLAD	0.839	0.596 (0.838)
real world	NetVLAD + Superpoint	0.892	0.465 (0.766)

Test with Real-world Data or Your Own Data

If you want to test in real-world data example, download our image set with commands below. Use the config file to run this set.

mkdir output
cd output

pip install gdown
gdown https://drive.google.com/uc?id=1vKStXeQ--owwUDIKsbWO-NrEuWYeo7c_
unzip output_realworld.zip

cd ..

python generate_hloc_feature.py --config config/realworld_69FOV.py
python run_retrieval_test.py --config config/realworld_69FOV.py

If you want to use your own image set, the file tree and image file naming should follow the example.
The image file name must be a six-digit padded integer.
You can change LOCALIZATION_TEST_PATH with your own directory.

# file tree
└── /your/directory/
    ├── pos_record_map_node_observation_level_0.json
    ├── pos_record_test_query_0.json
    ├── map_node_observation_level_0
    │   ├── 000000.jpg
    │   ├── 000001.jpg
    │   ├── 000002.jpg
    │   ├── ...
    └── test_query_0
        ├── 000000.jpg
        ├── 000001.jpg
        ├── 000002.jpg
        ├──...

# pose record json file (pos_record_test_query_0.json)
{
    "000000_grid": [
        1,
        0
    ],
    "000001_grid": [
        2,
        0
    ],
    "000002_grid": [
        3,
        0
    ],
    ...
}

Multiple Observation per Node

Multiple images can be assigned to a single node. Run example with the commands below.

# In config file, CamConfig.NUM_CAMERA must be bigger than 1, and CamConfig.IMAGE_CONCAT must be False
python generate_map_observation.py --config config/singleview_90FOV.py
python generate_hloc_feature.py --config config/singleview_90FOV.py
python run_retrieval_test.py --config config/singleview_90FOV.py

Graph Map Generation

Habitat-Sim provides top-down map at current position. However, if the robot is summoned on a table or sofa, the correct top-down map cannot be acquired.
To solve this, we sampled many top-down map at many random positions, and get the top-down map with the largest area size. Please see code & comments at here.
We applied sknw skeletonization on this largest area map, and get graph map. See here for code.

Code Formatting

• Code formatting tool: black, isort
• Static code analysis tool: pytest, flake8, pylint

You can simply run formatting and static analysis with the commands below.

# Install black, isort, flake8, pylint and pytest.
# You can skip this if you already run Set Up above.
pip install -r requirements.txt

# Formatting
make format

# Static code analysis
make test

License

This repository is MIT licensed.