90,768 research outputs found
Discrete Multi-modal Hashing with Canonical Views for Robust Mobile Landmark Search
Mobile landmark search (MLS) recently receives increasing attention for its
great practical values. However, it still remains unsolved due to two important
challenges. One is high bandwidth consumption of query transmission, and the
other is the huge visual variations of query images sent from mobile devices.
In this paper, we propose a novel hashing scheme, named as canonical view based
discrete multi-modal hashing (CV-DMH), to handle these problems via a novel
three-stage learning procedure. First, a submodular function is designed to
measure visual representativeness and redundancy of a view set. With it,
canonical views, which capture key visual appearances of landmark with limited
redundancy, are efficiently discovered with an iterative mining strategy.
Second, multi-modal sparse coding is applied to transform visual features from
multiple modalities into an intermediate representation. It can robustly and
adaptively characterize visual contents of varied landmark images with certain
canonical views. Finally, compact binary codes are learned on intermediate
representation within a tailored discrete binary embedding model which
preserves visual relations of images measured with canonical views and removes
the involved noises. In this part, we develop a new augmented Lagrangian
multiplier (ALM) based optimization method to directly solve the discrete
binary codes. We can not only explicitly deal with the discrete constraint, but
also consider the bit-uncorrelated constraint and balance constraint together.
Experiments on real world landmark datasets demonstrate the superior
performance of CV-DMH over several state-of-the-art methods
Maximized Posteriori Attributes Selection from Facial Salient Landmarks for Face Recognition
This paper presents a robust and dynamic face recognition technique based on
the extraction and matching of devised probabilistic graphs drawn on SIFT
features related to independent face areas. The face matching strategy is based
on matching individual salient facial graph characterized by SIFT features as
connected to facial landmarks such as the eyes and the mouth. In order to
reduce the face matching errors, the Dempster-Shafer decision theory is applied
to fuse the individual matching scores obtained from each pair of salient
facial features. The proposed algorithm is evaluated with the ORL and the IITK
face databases. The experimental results demonstrate the effectiveness and
potential of the proposed face recognition technique also in case of partially
occluded faces.Comment: 8 pages, 2 figure
An Efficient Index for Visual Search in Appearance-based SLAM
Vector-quantization can be a computationally expensive step in visual
bag-of-words (BoW) search when the vocabulary is large. A BoW-based appearance
SLAM needs to tackle this problem for an efficient real-time operation. We
propose an effective method to speed up the vector-quantization process in
BoW-based visual SLAM. We employ a graph-based nearest neighbor search (GNNS)
algorithm to this aim, and experimentally show that it can outperform the
state-of-the-art. The graph-based search structure used in GNNS can efficiently
be integrated into the BoW model and the SLAM framework. The graph-based index,
which is a k-NN graph, is built over the vocabulary words and can be extracted
from the BoW's vocabulary construction procedure, by adding one iteration to
the k-means clustering, which adds small extra cost. Moreover, exploiting the
fact that images acquired for appearance-based SLAM are sequential, GNNS search
can be initiated judiciously which helps increase the speedup of the
quantization process considerably
Keyframe-based monocular SLAM: design, survey, and future directions
Extensive research in the field of monocular SLAM for the past fifteen years
has yielded workable systems that found their way into various applications in
robotics and augmented reality. Although filter-based monocular SLAM systems
were common at some time, the more efficient keyframe-based solutions are
becoming the de facto methodology for building a monocular SLAM system. The
objective of this paper is threefold: first, the paper serves as a guideline
for people seeking to design their own monocular SLAM according to specific
environmental constraints. Second, it presents a survey that covers the various
keyframe-based monocular SLAM systems in the literature, detailing the
components of their implementation, and critically assessing the specific
strategies made in each proposed solution. Third, the paper provides insight
into the direction of future research in this field, to address the major
limitations still facing monocular SLAM; namely, in the issues of illumination
changes, initialization, highly dynamic motion, poorly textured scenes,
repetitive textures, map maintenance, and failure recovery
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