论文复现【DualMap: Online Open-Vocabulary Semantic Mapping for Natural Language Navigation in Dynamic Cha

部署环境

• Ubuntu 22.04
• ROS2 Humble

开发环境安装

下载源代码

git clone --branch main --single-branch --recurse-submodules git@github.com:Eku127/DualMap.git

cd DualMap

创建 conda 环境

conda create -n dualmap python=3.10 -y

激活环境

conda activate dualmap

强制使用清华源

pip install cmake faiss-cpu==1.9.0 torch torchvision torchaudio tyro open_clip_torch wandb h5py openai hydra-core distinctipy ultralytics==8.3.103 dill supervision==0.25.1 open3d imageio natsort kornia rerun-sdk==0.22.1 record3d==1.4.1 pyliblzfse pypng tabulate pympler plyfile "numpy<2.0" -i https://pypi.tuna.tsinghua.edu.cn/simple

拉取 CLIP 模型库

pip install git+https://ghproxy.net/https://github.com/ultralytics/CLIP.git

Run with iPhone

app_runner_record_3d.md

修改参数

运行测试

python -m applications.runner_record_3d

结果保存

在手机上点击停止录制，会自动保存后停止程序

Offline Map Query

app_offline_query.md

下载数据集

download the data here: OneDrive

下载模型

wget -c --no-check-certificate https://hf-mirror.com/apple/MobileCLIP-S2-OpenCLIP/resolve/main/open_clip_pytorch_model.bin