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A Coarse-to-Fine Residual Prediction for Multi-Scene Pose Regression with Transformers

This repository extends the ICCV21 paper Learning Multi-Scene Absolute Pose Regression with Transformers with coarse-to-fine residual regression.

Set up

Please follow the instructions (prerequisites) in our the MS Transformer repository: https://github.com/yolish/multi-scene-pose-transformer

Pretrained Models

You can download our pretrained models for the 7Scenes dataset and the Cambridge dataset, from here: pretrained models

If you would like to train our model on these dataset yourself, you will need to initialize them from the respective pretrained ms-transformer models (without residual learning), which are available from our MS Transformer repository. For the CambridgeLandmarks dataset please use the model before fine-tuning.

Usage

The entry point for training and testing is the main.py script in the root directory

For detailed explanation of the options run:

python main.py -h

For example, in order to train our model on the 7Scenes dataset run:

  python main.py 
  c2f-ems-transposenet 
  train 
  models/backbones/efficient-net-b0.pth 
  /path/to/7scenes-datasets .
  /datasets/7Scenes/7scenes_all_scenes.csv 
  7scenes_config.json 
  --checkpoint_path path/to/pretrained-ms-transformer

Your checkpoints (.pth file saved based on the number you specify in the configuration file) and log file will be saved under an 'out' folder.

To run on cambridge, you will need to change the configuration file to CambridgeLandmarks_config.json for initial training and CambridgeLandmarks_finetune_config.json for fine-tuning (see details in our paper).

In order to test your model, for example on the ShopFacade scene from the CambridgeLandmarks dataset:

  python main.py 
  c2f-ems-transposenet
  test
  models/backbones/efficient-net-b0.pth
  path/to/CambridgeLandmarks/
  ./datasets/CambridgeLandmarks/abs_cambridge_pose_sorted.csv_ShopFacade_test.csv
  CambridgeLandmarks_config.json
  --checkpoint_path
  path/to/checkpoint
  --cluster_predictor_position
  ./datasets/CambridgeLandmarks/cambridge_four_scenes.csv_scene_ShopFacade_position_4_classes.sav
  --cluster_predictor_orientation
  ./datasets/CambridgeLandmarks/cambridge_four_scenes.csv_scene_ShopFacade_orientation_4_classes.sav