38,085 research outputs found
ShapeFit and ShapeKick for Robust, Scalable Structure from Motion
We introduce a new method for location recovery from pair-wise directions
that leverages an efficient convex program that comes with exact recovery
guarantees, even in the presence of adversarial outliers. When pairwise
directions represent scaled relative positions between pairs of views
(estimated for instance with epipolar geometry) our method can be used for
location recovery, that is the determination of relative pose up to a single
unknown scale. For this task, our method yields performance comparable to the
state-of-the-art with an order of magnitude speed-up. Our proposed numerical
framework is flexible in that it accommodates other approaches to location
recovery and can be used to speed up other methods. These properties are
demonstrated by extensively testing against state-of-the-art methods for
location recovery on 13 large, irregular collections of images of real scenes
in addition to simulated data with ground truth
Distributed Low-rank Subspace Segmentation
Vision problems ranging from image clustering to motion segmentation to
semi-supervised learning can naturally be framed as subspace segmentation
problems, in which one aims to recover multiple low-dimensional subspaces from
noisy and corrupted input data. Low-Rank Representation (LRR), a convex
formulation of the subspace segmentation problem, is provably and empirically
accurate on small problems but does not scale to the massive sizes of modern
vision datasets. Moreover, past work aimed at scaling up low-rank matrix
factorization is not applicable to LRR given its non-decomposable constraints.
In this work, we propose a novel divide-and-conquer algorithm for large-scale
subspace segmentation that can cope with LRR's non-decomposable constraints and
maintains LRR's strong recovery guarantees. This has immediate implications for
the scalability of subspace segmentation, which we demonstrate on a benchmark
face recognition dataset and in simulations. We then introduce novel
applications of LRR-based subspace segmentation to large-scale semi-supervised
learning for multimedia event detection, concept detection, and image tagging.
In each case, we obtain state-of-the-art results and order-of-magnitude speed
ups
Scalable Dense Monocular Surface Reconstruction
This paper reports on a novel template-free monocular non-rigid surface
reconstruction approach. Existing techniques using motion and deformation cues
rely on multiple prior assumptions, are often computationally expensive and do
not perform equally well across the variety of data sets. In contrast, the
proposed Scalable Monocular Surface Reconstruction (SMSR) combines strengths of
several algorithms, i.e., it is scalable with the number of points, can handle
sparse and dense settings as well as different types of motions and
deformations. We estimate camera pose by singular value thresholding and
proximal gradient. Our formulation adopts alternating direction method of
multipliers which converges in linear time for large point track matrices. In
the proposed SMSR, trajectory space constraints are integrated by smoothing of
the measurement matrix. In the extensive experiments, SMSR is demonstrated to
consistently achieve state-of-the-art accuracy on a wide variety of data sets.Comment: International Conference on 3D Vision (3DV), Qingdao, China, October
201
The Iray Light Transport Simulation and Rendering System
While ray tracing has become increasingly common and path tracing is well
understood by now, a major challenge lies in crafting an easy-to-use and
efficient system implementing these technologies. Following a purely
physically-based paradigm while still allowing for artistic workflows, the Iray
light transport simulation and rendering system allows for rendering complex
scenes by the push of a button and thus makes accurate light transport
simulation widely available. In this document we discuss the challenges and
implementation choices that follow from our primary design decisions,
demonstrating that such a rendering system can be made a practical, scalable,
and efficient real-world application that has been adopted by various companies
across many fields and is in use by many industry professionals today
Efficient 2D-3D Matching for Multi-Camera Visual Localization
Visual localization, i.e., determining the position and orientation of a
vehicle with respect to a map, is a key problem in autonomous driving. We
present a multicamera visual inertial localization algorithm for large scale
environments. To efficiently and effectively match features against a pre-built
global 3D map, we propose a prioritized feature matching scheme for
multi-camera systems. In contrast to existing works, designed for monocular
cameras, we (1) tailor the prioritization function to the multi-camera setup
and (2) run feature matching and pose estimation in parallel. This
significantly accelerates the matching and pose estimation stages and allows us
to dynamically adapt the matching efforts based on the surrounding environment.
In addition, we show how pose priors can be integrated into the localization
system to increase efficiency and robustness. Finally, we extend our algorithm
by fusing the absolute pose estimates with motion estimates from a multi-camera
visual inertial odometry pipeline (VIO). This results in a system that provides
reliable and drift-less pose estimation. Extensive experiments show that our
localization runs fast and robust under varying conditions, and that our
extended algorithm enables reliable real-time pose estimation.Comment: 7 pages, 5 figure
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