9,569 research outputs found
High-dimensional approximate nearest neighbor: k-d Generalized Randomized Forests
We propose a new data-structure, the generalized randomized kd forest, or
kgeraf, for approximate nearest neighbor searching in high dimensions. In
particular, we introduce new randomization techniques to specify a set of
independently constructed trees where search is performed simultaneously, hence
increasing accuracy. We omit backtracking, and we optimize distance
computations, thus accelerating queries. We release public domain software
geraf and we compare it to existing implementations of state-of-the-art methods
including BBD-trees, Locality Sensitive Hashing, randomized kd forests, and
product quantization. Experimental results indicate that our method would be
the method of choice in dimensions around 1,000, and probably up to 10,000, and
pointsets of cardinality up to a few hundred thousands or even one million;
this range of inputs is encountered in many critical applications today. For
instance, we handle a real dataset of images represented in 960
dimensions with a query time of less than sec on average and 90\% responses
being true nearest neighbors
Approximate Nearest Neighbor Fields in Video
We introduce RIANN (Ring Intersection Approximate Nearest Neighbor search),
an algorithm for matching patches of a video to a set of reference patches in
real-time. For each query, RIANN finds potential matches by intersecting rings
around key points in appearance space. Its search complexity is reversely
correlated to the amount of temporal change, making it a good fit for videos,
where typically most patches change slowly with time. Experiments show that
RIANN is up to two orders of magnitude faster than previous ANN methods, and is
the only solution that operates in real-time. We further demonstrate how RIANN
can be used for real-time video processing and provide examples for a range of
real-time video applications, including colorization, denoising, and several
artistic effects.Comment: A CVPR 2015 oral pape
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
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