Zero-Shot Indoor Localization

[Paper] [Poster] [Video]

The official evaluation code of the paper Zero-Shot Multi-View Indoor Localization via Graph Location Networks which has been accepted at ACM MM 2020. This repo also includes two datasets (ICUBE & WCP) used in the paper and useful code snippets for reading datasets.

Please cite our paper if you use our code/datasets or feel inspired by our work :)

@inproceedings{chiou2020zero,
  title={Zero-Shot Multi-View Indoor Localization via Graph Location Networks},
  author={Chiou, Meng-Jiun and Liu, Zhenguang and Yin, Yifang and Liu, An-An and Zimmermann, Roger},
  booktitle={Proceedings of the 28th ACM International Conference on Multimedia},
  pages={3431--3440},
  year={2020}
}

Especially for ICUBE dataset, you might also want to cite the following paper:

@inproceedings{liu2017multiview,
  title={Multiview and multimodal pervasive indoor localization},
  author={Liu, Zhenguang and Cheng, Li and Liu, Anan and Zhang, Luming and He, Xiangnan and Zimmermann, Roger},
  booktitle={Proceedings of the 25th ACM international conference on Multimedia},
  pages={109--117},
  year={2017}
}

Datasets

Images

Note that for both datasets, the name of each image follows the naming of {xx}_000{yy}.jpg where xx is the location ID and yy in {01,02,...,12} means different views of the location and 01-04, 05-08 and 09-12 are sets of four views of the location.

ICUBE Dataset: collected at the ICUBE building (21 Heng Mui Keng Terrace, Singapore 119613) at NUS. Put the image data under data/icube/.
West Coast Plaza (WCP) Dataset: collected at the WCP shopping mall (154 West Coast Rd, Singapore 127371). Put the image data under data/wcp/.

Annotations

Annotations are provided in this repository. We provide description for each file as follows:

{dataset}_path.txt -> Each line represents a "path" or "road", where for each line there are three numbers: (1) road ID (2) start location ID (3) end location ID
loc_vec.npy -> A 2D array in size of (n_location, 2) where the line i is the coordinate of location i in increasing order (the first line is location 1). Generated from {dataset}_path.txt.
adjacency_matrix.npy -> (for zero-shot use) Adjacency matrix of the locations. A 2D array in size of (n_location + 1, n_location + 1). The first row and column should be omitted before use. Generated from loc_vec.npy. Note that currently the adjacency_matrix.npy file for wcp dataset is missed; you have to generate it yourself according to wcp_path.txt.
nonzl_loc_to_dict.pkl -> (for zero-shot use) A dictionary that maps dataset's seen location IDs into all (training) class IDs.
all_loc_to_dict.pkl -> (for zero-shot use) A dictionary that maps all dataset's seen & unseen location IDs into all (training & validation) class IDs.

Pre-trained Feature

loc_vec_trained_{214,394}.npy -> (for zero-shot use) Trained node features with the proposed Map2Vec using compute-loc_vec.py.

Installation

Python 3.6 or higher
PyTorch 1.1 (possibly compatible with versions from 0.4 to 1.5)
Torchvision (to be installed along with PyTorch)
Other packages in requirements.txt (including torch-geometric==1.3.0)

conda create -n zsgln python=3.6 scipy numpy
conda activate zsgln
# Go to https://pytorch.org/get-started/previous-versions/ to install PyTorch with a compatiable gpu version
# Then install other requirements as follows
pip install -r requirements.txt

Checkpoints

Download the trained models here and put them into the checkpoints folder follow the following predefined structure. You can also run ./download_checkpoints.sh to download them automatically (while you need to install gdown via pip install gdown first).

checkpoints
|-icube
  |-standard
    |-resnet152-best_model-gln.pth
    |-resnet152-best_model-gln_att.pth
  |-zero-shot
    |-resnet152-best_model-baseline.pth
    |-resnet152-best_model-gln.pth
    |-resnet152-best_model-gln_att.pth
|-wcp
  |-standard
    |-resnet152-best_model-gln.pth
    |-resnet152-best_model-gln_att.pth
  |-zero-shot
    |-resnet152-best_model-baseline.pth
    |-resnet152-best_model-gln.pth
    |-resnet152-best_model-gln_att.pth

Evaluation

Default dataset is icube. You may change to wcp as needed. Note that the code assumes using 1 GPU & will take up around ~2GB memory. To change to cpu only, make some changes to the codes.

Ordinary Indoor Localization

Note that the first number in printed top1_count corresponds to meter-level accuracy in Table 1 and the first 6 numbers correspond to the CDF curves in Figure 5.

GLN (GCN based)

python eval-gln.py --network gcn --dataset icube --ckpt checkpoints/icube/standard/resnet152-best_model-gln.pth

GLN + Attention (GAT based)

python eval-gln.py --network gat --dataset icube --ckpt checkpoints/icube/standard/resnet152-best_model-gln_att.pth