69,582 research outputs found
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
Lifting GIS Maps into Strong Geometric Context for Scene Understanding
Contextual information can have a substantial impact on the performance of
visual tasks such as semantic segmentation, object detection, and geometric
estimation. Data stored in Geographic Information Systems (GIS) offers a rich
source of contextual information that has been largely untapped by computer
vision. We propose to leverage such information for scene understanding by
combining GIS resources with large sets of unorganized photographs using
Structure from Motion (SfM) techniques. We present a pipeline to quickly
generate strong 3D geometric priors from 2D GIS data using SfM models aligned
with minimal user input. Given an image resectioned against this model, we
generate robust predictions of depth, surface normals, and semantic labels. We
show that the precision of the predicted geometry is substantially more
accurate other single-image depth estimation methods. We then demonstrate the
utility of these contextual constraints for re-scoring pedestrian detections,
and use these GIS contextual features alongside object detection score maps to
improve a CRF-based semantic segmentation framework, boosting accuracy over
baseline models
InLoc: Indoor Visual Localization with Dense Matching and View Synthesis
We seek to predict the 6 degree-of-freedom (6DoF) pose of a query photograph
with respect to a large indoor 3D map. The contributions of this work are
three-fold. First, we develop a new large-scale visual localization method
targeted for indoor environments. The method proceeds along three steps: (i)
efficient retrieval of candidate poses that ensures scalability to large-scale
environments, (ii) pose estimation using dense matching rather than local
features to deal with textureless indoor scenes, and (iii) pose verification by
virtual view synthesis to cope with significant changes in viewpoint, scene
layout, and occluders. Second, we collect a new dataset with reference 6DoF
poses for large-scale indoor localization. Query photographs are captured by
mobile phones at a different time than the reference 3D map, thus presenting a
realistic indoor localization scenario. Third, we demonstrate that our method
significantly outperforms current state-of-the-art indoor localization
approaches on this new challenging data
Learning to Extract Motion from Videos in Convolutional Neural Networks
This paper shows how to extract dense optical flow from videos with a
convolutional neural network (CNN). The proposed model constitutes a potential
building block for deeper architectures to allow using motion without resorting
to an external algorithm, \eg for recognition in videos. We derive our network
architecture from signal processing principles to provide desired invariances
to image contrast, phase and texture. We constrain weights within the network
to enforce strict rotation invariance and substantially reduce the number of
parameters to learn. We demonstrate end-to-end training on only 8 sequences of
the Middlebury dataset, orders of magnitude less than competing CNN-based
motion estimation methods, and obtain comparable performance to classical
methods on the Middlebury benchmark. Importantly, our method outputs a
distributed representation of motion that allows representing multiple,
transparent motions, and dynamic textures. Our contributions on network design
and rotation invariance offer insights nonspecific to motion estimation
Full Flow: Optical Flow Estimation By Global Optimization over Regular Grids
We present a global optimization approach to optical flow estimation. The
approach optimizes a classical optical flow objective over the full space of
mappings between discrete grids. No descriptor matching is used. The highly
regular structure of the space of mappings enables optimizations that reduce
the computational complexity of the algorithm's inner loop from quadratic to
linear and support efficient matching of tens of thousands of nodes to tens of
thousands of displacements. We show that one-shot global optimization of a
classical Horn-Schunck-type objective over regular grids at a single resolution
is sufficient to initialize continuous interpolation and achieve
state-of-the-art performance on challenging modern benchmarks.Comment: To be presented at CVPR 201
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