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NocPlace

This is the official pytorch implementation of the paper "NocPlace: Nocturnal Visual Place Recognition via Generative and Inherited Knowledge Transfer". NocPlace can theoretically be extended to any VPR method and painlessly improve the recall in night scenes.

arXiv

New: We are now fine-tuning SALAD based on the repo of CosPlace and NocPlace. Although there are some improvements, it is not perfect. We will continue to optimize the performance of NocPlace in foundation models.

Experimental results

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Datasets

Train

python train.py --groups_num 1 --backbone ResNet50 --fc_output_dim 512 --train_all_layers --lr 1e-6 --brightness 0 --contrast 0 --hue 0 --saturation 0 --resume_model ./ResNet50_512_cosplace.pth --train_set_folder ./train --val_set_folder ./val --use_ikt

Test

python eval.py --backbone ResNet50 --fc_output_dim 512 --resume_model ResNet50_512_cosplace_noc.pth --test_set_folder ./datasets/tokyo247/images/test

Acknowledgements

Parts of this repo are inspired by the following repositories:

  • CosPlace
  • EigenPlaces
  • Visual-Geo-localization-Benchmark
  • SALAD