DDM-NET: End-to-end learning of keypoint feature Detection, Description and Matching for 3D localization

In this paper, we propose an end-to-end framework that jointly learns keypoint detection, descriptor representation and cross-frame matching for the task of image-based 3D localization. Prior art has tackled each of these components individually, purportedly aiming to alleviate difficulties in effectively train a holistic network. We design a self-supervised image warping correspondence loss for both feature detection and matching, a weakly-supervised epipolar constraints loss on relative camera pose learning, and a directional matching scheme that detects key-point features in a source image and performs coarse-to-fine correspondence search on the target image. We leverage this framework to enforce cycle consistency in our matching module. In addition, we propose a new loss to robustly handle both definite inlier/outlier matches and less-certain matches. The integration of these learning mechanisms enables end-to-end training of a single network performing all three localization components. Bench-marking our approach on public data-sets, exemplifies how such an end-to-end framework is able to yield more accurate localization that out-performs both traditional methods as well as state-of-the-art weakly supervised methods

Precise motion descriptors extraction from stereoscopic footage using DaVinci DM6446

A novel approach to extract target motion descriptors in multi-camera video surveillance systems is presented. Using two static surveillance cameras with partially overlapped field of view (FOV), control points (unique points from each camera) are identified in regions of interest (ROI) from both cameras footage. The control points within the ROI are matched for correspondence and a meshed Euclidean distance based signature is computed. A depth map is estimated using disparity of each control pair and the ROI is graded into number of regions with the help of relative depth information of the control points. The graded regions of different depths will help calculate accurately the pace of the moving target and also its 3D location. The advantage of estimating a depth map for background static control points over depth map of the target itself is its accuracy and robustness to outliers. The performance of the algorithm is evaluated in the paper using several test sequences. Implementation issues of the algorithm onto the TI DaVinci DM6446 platform are considered in the paper