DVLO

The official codes for ECCV 2024 Oral paper: 'DVLO: Deep Visual-LiDAR Odometry with Local-to-Global Feature Fusion and Bi-Directional Structure Alignment'

Jiuming Liu, Dong Zhuo, Zhiheng Feng, Siting Zhu, Chensheng Peng, Zhe Liu, and Hesheng Wang

📣 News

• [9/Nov/2024] We have released the pre-trained weights!
• [5/Oct/2024] We have released the codes for DVLO!
• [12/Aug/2024] Our work has been selected as Oral presentation in ECCV 2024!

Pipeline

Installation

Our model only depends on the following commonly used packages.

Package	Version
CUDA	1.11.3
Python	3.8.10
PyTorch	1.12.0
h5py	not specified
tqdm	not specified
numpy	not specified
openpyxl	not specified

Device: NVIDIA RTX 3090

Install the pointnet2 library

Compile the furthest point sampling, grouping and gathering operation for PyTorch with following commands.

cd pointnet2
python setup.py install

Install the CUDA-based KNN searching and random searching

We leverage CUDA-based operator for parallel neighbor searching [Reference: [EfficientLONet] (https://github.com/IRMVLab/EfficientLO-Net)]. You can compile them with following commands.

cd ops_pytorch
cd fused_conv_random_k
python setup.py install
cd ../
cd fused_conv_select_k
python setup.py install
cd ../

Datasets

KITTI Odometry

Datasets are available at KITTI Odometry benchmark website: https://drive.google.com/drive/folders/1Su0hCuGFo1AGrNb_VMNnlF7qeQwKjfhZ The data of the KITTI odometry dataset should be organized as follows:

data_root
├── 00
│   ├── velodyne
│   ├── calib.txt
├── 01
├── ...

Training

Train the network by running :

python train.py 

Please reminder to specify the GPU, data_root,log_dir, train_list(sequences for training), val_list(sequences for validation). You may specify the value of arguments. Please find the available arguments in the configs.py.

Testing

Our network is evaluated every 2 epoph during training. If you only want the evaluation results, you can set the parameter 'eval_before' as 'True' in file config.py, then evaluate the network by running :

python train.py

Please reminder to specify the GPU, data_root,log_dir, test_list(sequences for testing) in the scripts. You can also get the pretrined wieghts in the pretrain_weights file.

Clustering Visualization

Citation

@article{liu2024dvlo,
  title={DVLO: Deep Visual-LiDAR Odometry with Local-to-Global Feature Fusion and Bi-Directional Structure Alignment},
  author={Liu, Jiuming and Zhuo, Dong and Feng, Zhiheng and Zhu, Siting and Peng, Chensheng and Liu, Zhe and Wang, Hesheng},
  journal={arXiv preprint arXiv:2403.18274},
  year={2024}
}

Acknowledgments

We thank the following open-source project for the help of the implementations:

• PointNet++
• [PWCLONet] (https://github.com/IRMVLab/PWCLONet)
• [RegFormer] (https://github.com/IRMVLab/RegFormer)