5,877 research outputs found
PlaNet - Photo Geolocation with Convolutional Neural Networks
Is it possible to build a system to determine the location where a photo was
taken using just its pixels? In general, the problem seems exceptionally
difficult: it is trivial to construct situations where no location can be
inferred. Yet images often contain informative cues such as landmarks, weather
patterns, vegetation, road markings, and architectural details, which in
combination may allow one to determine an approximate location and occasionally
an exact location. Websites such as GeoGuessr and View from your Window suggest
that humans are relatively good at integrating these cues to geolocate images,
especially en-masse. In computer vision, the photo geolocation problem is
usually approached using image retrieval methods. In contrast, we pose the
problem as one of classification by subdividing the surface of the earth into
thousands of multi-scale geographic cells, and train a deep network using
millions of geotagged images. While previous approaches only recognize
landmarks or perform approximate matching using global image descriptors, our
model is able to use and integrate multiple visible cues. We show that the
resulting model, called PlaNet, outperforms previous approaches and even
attains superhuman levels of accuracy in some cases. Moreover, we extend our
model to photo albums by combining it with a long short-term memory (LSTM)
architecture. By learning to exploit temporal coherence to geolocate uncertain
photos, we demonstrate that this model achieves a 50% performance improvement
over the single-image model
A Comprehensive Performance Evaluation of Deformable Face Tracking "In-the-Wild"
Recently, technologies such as face detection, facial landmark localisation
and face recognition and verification have matured enough to provide effective
and efficient solutions for imagery captured under arbitrary conditions
(referred to as "in-the-wild"). This is partially attributed to the fact that
comprehensive "in-the-wild" benchmarks have been developed for face detection,
landmark localisation and recognition/verification. A very important technology
that has not been thoroughly evaluated yet is deformable face tracking
"in-the-wild". Until now, the performance has mainly been assessed
qualitatively by visually assessing the result of a deformable face tracking
technology on short videos. In this paper, we perform the first, to the best of
our knowledge, thorough evaluation of state-of-the-art deformable face tracking
pipelines using the recently introduced 300VW benchmark. We evaluate many
different architectures focusing mainly on the task of on-line deformable face
tracking. In particular, we compare the following general strategies: (a)
generic face detection plus generic facial landmark localisation, (b) generic
model free tracking plus generic facial landmark localisation, as well as (c)
hybrid approaches using state-of-the-art face detection, model free tracking
and facial landmark localisation technologies. Our evaluation reveals future
avenues for further research on the topic.Comment: E. Antonakos and P. Snape contributed equally and have joint second
authorshi
Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age
Simultaneous Localization and Mapping (SLAM)consists in the concurrent
construction of a model of the environment (the map), and the estimation of the
state of the robot moving within it. The SLAM community has made astonishing
progress over the last 30 years, enabling large-scale real-world applications,
and witnessing a steady transition of this technology to industry. We survey
the current state of SLAM. We start by presenting what is now the de-facto
standard formulation for SLAM. We then review related work, covering a broad
set of topics including robustness and scalability in long-term mapping, metric
and semantic representations for mapping, theoretical performance guarantees,
active SLAM and exploration, and other new frontiers. This paper simultaneously
serves as a position paper and tutorial to those who are users of SLAM. By
looking at the published research with a critical eye, we delineate open
challenges and new research issues, that still deserve careful scientific
investigation. The paper also contains the authors' take on two questions that
often animate discussions during robotics conferences: Do robots need SLAM? and
Is SLAM solved
- …