3,459 research outputs found
High-Precision Localization Using Ground Texture
Location-aware applications play an increasingly critical role in everyday
life. However, satellite-based localization (e.g., GPS) has limited accuracy
and can be unusable in dense urban areas and indoors. We introduce an
image-based global localization system that is accurate to a few millimeters
and performs reliable localization both indoors and outside. The key idea is to
capture and index distinctive local keypoints in ground textures. This is based
on the observation that ground textures including wood, carpet, tile, concrete,
and asphalt may look random and homogeneous, but all contain cracks, scratches,
or unique arrangements of fibers. These imperfections are persistent, and can
serve as local features. Our system incorporates a downward-facing camera to
capture the fine texture of the ground, together with an image processing
pipeline that locates the captured texture patch in a compact database
constructed offline. We demonstrate the capability of our system to robustly,
accurately, and quickly locate test images on various types of outdoor and
indoor ground surfaces
Semantic Visual Localization
Robust visual localization under a wide range of viewing conditions is a
fundamental problem in computer vision. Handling the difficult cases of this
problem is not only very challenging but also of high practical relevance,
e.g., in the context of life-long localization for augmented reality or
autonomous robots. In this paper, we propose a novel approach based on a joint
3D geometric and semantic understanding of the world, enabling it to succeed
under conditions where previous approaches failed. Our method leverages a novel
generative model for descriptor learning, trained on semantic scene completion
as an auxiliary task. The resulting 3D descriptors are robust to missing
observations by encoding high-level 3D geometric and semantic information.
Experiments on several challenging large-scale localization datasets
demonstrate reliable localization under extreme viewpoint, illumination, and
geometry changes
A Geometrically Constrained Point Matching based on View-invariant Cross-ratios, and Homography
In computer vision, finding point correspondence among images plays an
important role in many applications, such as image stitching, image retrieval,
visual localization, etc. Most of the research worksfocus on the matching of
local feature before a sampling method is employed, such as RANSAC, to verify
initial matching results via repeated fitting of certain global transformation
among the images. However, incorrect matches may still exist, while careful
examination of such problems is often skipped. Accordingly, a geometrically
constrained algorithm is proposed in this work to verify the correctness of
initially matched SIFT keypoints based on view-invariant cross-ratios (CRs). By
randomly forming pentagons from these keypoints and matching their shape and
location among images with CRs, robust planar region estimation can be achieved
efficiently for the above verification, while correct and incorrect matches of
keypoints can be examined easily with respect to those shape and location
matched pentagons. Experimental results show that satisfactory results can be
obtained for various scenes with single as well as multiple planar regions
ARCHANGEL: Tamper-proofing Video Archives using Temporal Content Hashes on the Blockchain
We present ARCHANGEL; a novel distributed ledger based system for assuring
the long-term integrity of digital video archives. First, we describe a novel
deep network architecture for computing compact temporal content hashes (TCHs)
from audio-visual streams with durations of minutes or hours. Our TCHs are
sensitive to accidental or malicious content modification (tampering) but
invariant to the codec used to encode the video. This is necessary due to the
curatorial requirement for archives to format shift video over time to ensure
future accessibility. Second, we describe how the TCHs (and the models used to
derive them) are secured via a proof-of-authority blockchain distributed across
multiple independent archives. We report on the efficacy of ARCHANGEL within
the context of a trial deployment in which the national government archives of
the United Kingdom, Estonia and Norway participated.Comment: Accepted to CVPR Blockchain Workshop 201
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