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facebookresearch / OrienterNet

Source Code for Paper "OrienterNet Visual Localization in 2D Public Maps with Neural Matching"
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Question about BEV generation #19

Open yejy53 opened 1 year ago

yejy53 commented 1 year ago

How to generate BEV features using panoramic data, such as downloaded Google panoramic images? Additionally, for example, if I have panoramic imagery, can I divide it into 4 single-view images, and the geographical location of the four views is consistent, which can improve the positioning accuracy?

sarlinpe commented 1 year ago

You can generate perspective views from the panoramic image, infer a heatmap for each of them, and fuse the heatmaps into a single one using the relative poses between the cameras. Since perspective views are related by a rotation only, you only need to shift each heatmap along the rotation dimension by yaw_relative / 360 * num_rotations.

yejy53 commented 1 year ago

I've taken this issue into account, but during the final implementation, when multiple BEVs are combined, stitching lines become evident. This is because BEV exhibits anomalies at the frustum edges.