47,112 research outputs found
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
Deep Sketch Hashing: Fast Free-hand Sketch-Based Image Retrieval
Free-hand sketch-based image retrieval (SBIR) is a specific cross-view
retrieval task, in which queries are abstract and ambiguous sketches while the
retrieval database is formed with natural images. Work in this area mainly
focuses on extracting representative and shared features for sketches and
natural images. However, these can neither cope well with the geometric
distortion between sketches and images nor be feasible for large-scale SBIR due
to the heavy continuous-valued distance computation. In this paper, we speed up
SBIR by introducing a novel binary coding method, named \textbf{Deep Sketch
Hashing} (DSH), where a semi-heterogeneous deep architecture is proposed and
incorporated into an end-to-end binary coding framework. Specifically, three
convolutional neural networks are utilized to encode free-hand sketches,
natural images and, especially, the auxiliary sketch-tokens which are adopted
as bridges to mitigate the sketch-image geometric distortion. The learned DSH
codes can effectively capture the cross-view similarities as well as the
intrinsic semantic correlations between different categories. To the best of
our knowledge, DSH is the first hashing work specifically designed for
category-level SBIR with an end-to-end deep architecture. The proposed DSH is
comprehensively evaluated on two large-scale datasets of TU-Berlin Extension
and Sketchy, and the experiments consistently show DSH's superior SBIR
accuracies over several state-of-the-art methods, while achieving significantly
reduced retrieval time and memory footprint.Comment: This paper will appear as a spotlight paper in CVPR201
Leveraging Deep Visual Descriptors for Hierarchical Efficient Localization
Many robotics applications require precise pose estimates despite operating
in large and changing environments. This can be addressed by visual
localization, using a pre-computed 3D model of the surroundings. The pose
estimation then amounts to finding correspondences between 2D keypoints in a
query image and 3D points in the model using local descriptors. However,
computational power is often limited on robotic platforms, making this task
challenging in large-scale environments. Binary feature descriptors
significantly speed up this 2D-3D matching, and have become popular in the
robotics community, but also strongly impair the robustness to perceptual
aliasing and changes in viewpoint, illumination and scene structure. In this
work, we propose to leverage recent advances in deep learning to perform an
efficient hierarchical localization. We first localize at the map level using
learned image-wide global descriptors, and subsequently estimate a precise pose
from 2D-3D matches computed in the candidate places only. This restricts the
local search and thus allows to efficiently exploit powerful non-binary
descriptors usually dismissed on resource-constrained devices. Our approach
results in state-of-the-art localization performance while running in real-time
on a popular mobile platform, enabling new prospects for robotics research.Comment: CoRL 2018 Camera-ready (fix typos and update citations
D2-Net: A Trainable CNN for Joint Detection and Description of Local Features
In this work we address the problem of finding reliable pixel-level
correspondences under difficult imaging conditions. We propose an approach
where a single convolutional neural network plays a dual role: It is
simultaneously a dense feature descriptor and a feature detector. By postponing
the detection to a later stage, the obtained keypoints are more stable than
their traditional counterparts based on early detection of low-level
structures. We show that this model can be trained using pixel correspondences
extracted from readily available large-scale SfM reconstructions, without any
further annotations. The proposed method obtains state-of-the-art performance
on both the difficult Aachen Day-Night localization dataset and the InLoc
indoor localization benchmark, as well as competitive performance on other
benchmarks for image matching and 3D reconstruction.Comment: Accepted at CVPR 201
- …