3,620 research outputs found
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
Packing and Padding: Coupled Multi-index for Accurate Image Retrieval
In Bag-of-Words (BoW) based image retrieval, the SIFT visual word has a low
discriminative power, so false positive matches occur prevalently. Apart from
the information loss during quantization, another cause is that the SIFT
feature only describes the local gradient distribution. To address this
problem, this paper proposes a coupled Multi-Index (c-MI) framework to perform
feature fusion at indexing level. Basically, complementary features are coupled
into a multi-dimensional inverted index. Each dimension of c-MI corresponds to
one kind of feature, and the retrieval process votes for images similar in both
SIFT and other feature spaces. Specifically, we exploit the fusion of local
color feature into c-MI. While the precision of visual match is greatly
enhanced, we adopt Multiple Assignment to improve recall. The joint cooperation
of SIFT and color features significantly reduces the impact of false positive
matches.
Extensive experiments on several benchmark datasets demonstrate that c-MI
improves the retrieval accuracy significantly, while consuming only half of the
query time compared to the baseline. Importantly, we show that c-MI is well
complementary to many prior techniques. Assembling these methods, we have
obtained an mAP of 85.8% and N-S score of 3.85 on Holidays and Ukbench
datasets, respectively, which compare favorably with the state-of-the-arts.Comment: 8 pages, 7 figures, 6 tables. Accepted to CVPR 201
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
- …