Comparing Feature Detectors: A bias in the repeatability criteria, and how to correct it

Most computer vision application rely on algorithms finding local correspondences between different images. These algorithms detect and compare stable local invariant descriptors centered at scale-invariant keypoints. Because of the importance of the problem, new keypoint detectors and descriptors are constantly being proposed, each one claiming to perform better (or to be complementary) to the preceding ones. This raises the question of a fair comparison between very diverse methods. This evaluation has been mainly based on a repeatability criterion of the keypoints under a series of image perturbations (blur, illumination, noise, rotations, homotheties, homographies, etc). In this paper, we argue that the classic repeatability criterion is biased towards algorithms producing redundant overlapped detections. To compensate this bias, we propose a variant of the repeatability rate taking into account the descriptors overlap. We apply this variant to revisit the popular benchmark by Mikolajczyk et al., on classic and new feature detectors. Experimental evidence shows that the hierarchy of these feature detectors is severely disrupted by the amended comparator.Comment: Fixed typo in affiliation

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

LRF-Net: Learning Local Reference Frames for 3D Local Shape Description and Matching

The local reference frame (LRF) acts as a critical role in 3D local shape description and matching. However, most of existing LRFs are hand-crafted and suffer from limited repeatability and robustness. This paper presents the first attempt to learn an LRF via a Siamese network that needs weak supervision only. In particular, we argue that each neighboring point in the local surface gives a unique contribution to LRF construction and measure such contributions via learned weights. Extensive analysis and comparative experiments on three public datasets addressing different application scenarios have demonstrated that LRF-Net is more repeatable and robust than several state-of-the-art LRF methods (LRF-Net is only trained on one dataset). In addition, LRF-Net can significantly boost the local shape description and 6-DoF pose estimation performance when matching 3D point clouds.Comment: 28 pages, 14 figure