DistilVPR

(AAAI 2024) DistilVPR: Cross-Modal Knowledge Distillation for Visual Place Recognition 🚀🚀🚀

ArXiv

Installation

• Platform

  Ubuntu 20.04
  python 3.8
  CUDA >= 11.8
  PyTorch >= 2.0
  

• PyTorch

  pip3 install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu118
  

• MinkowskiEngine https://github.com/NVIDIA/MinkowskiEngine

  conda install openblas-devel -c anaconda
  pip install pip==22.3.1
  pip install -U git+https://github.com/NVIDIA/MinkowskiEngine -v --no-deps --install-option="--blas_include_dirs=${CONDA_PREFIX}/include" --install-option="--blas=openblas"
  

• Others

  pip install scikit-learn
  pip install tqdm
  pip install pytorch-metric-learning==1.1
  pip install tensorboard
  

Dataset

The datasets are uploaded at Google Drive. Please download them and unzip them. You need to change some arguments in tools/options.py as the directories:

--dataset
--dataset_folder
--image_path

The teachers' weights are stored in teacher_weights/, which is also uploaded at Google Drive.

Run

We currently provide examples where the teacher is MinkLoc++ and the student is ResNet18+GeM (MinkLoc++2D):

# oxford
python train.py  --model minklocmmcat  \
    --teacher_weights_path teacher_weights/oxford__T:minklocmmcat__resnet18__img256__pc128__32_64_64__1_1_1__1__allstgF__b128__trainteacher/models/r1_best_ep57_97.24.pth  \
    --rkdgloss_weight 10  --crosslogitdistloss_weight_st2ss 0.1  --crosslogitsimloss_weight_st2ss 0.1  --crosslogitgeodistloss_weight_st2ss 0.1;


# boreas
python train.py  --model minklocmmcat  \
    --teacher_weights_path teacher_weights/boreas__T:minklocmmcat__resnet18__img256__pc128__32_64_64__1_1_1__1__allstgF__b128__trainteacher/models/r1_best_ep48_93.05.pth  \
    --rkdgloss_weight 1  --crosslogitdistloss_weight_st2ss 0.1  --crosslogitsimloss_weight_st2ss 0.1  --crosslogitgeodistloss_weight_st2ss 0.1;

Citation

@inproceedings{wang2024distilvpr,
  title={DistilVPR: Cross-Modal Knowledge Distillation for Visual Place Recognition},
  author={Wang, Sijie and She, Rui and Kang, Qiyu and Jian, Xingchao and Zhao, Kai and Song, Yang and Tay, Wee Peng},
  booktitle={Proceedings of the AAAI Conference on Artificial Intelligence},
  volume={38},
  number={9},
  pages={10377--10385},
  year={2024}
}