Real-Time RGB-D Camera Pose Estimation in Novel Scenes using a Relocalisation Cascade

Camera pose estimation is an important problem in computer vision. Common techniques either match the current image against keyframes with known poses, directly regress the pose, or establish correspondences between keypoints in the image and points in the scene to estimate the pose. In recent years, regression forests have become a popular alternative to establish such correspondences. They achieve accurate results, but have traditionally needed to be trained offline on the target scene, preventing relocalisation in new environments. Recently, we showed how to circumvent this limitation by adapting a pre-trained forest to a new scene on the fly. The adapted forests achieved relocalisation performance that was on par with that of offline forests, and our approach was able to estimate the camera pose in close to real time. In this paper, we present an extension of this work that achieves significantly better relocalisation performance whilst running fully in real time. To achieve this, we make several changes to the original approach: (i) instead of accepting the camera pose hypothesis without question, we make it possible to score the final few hypotheses using a geometric approach and select the most promising; (ii) we chain several instantiations of our relocaliser together in a cascade, allowing us to try faster but less accurate relocalisation first, only falling back to slower, more accurate relocalisation as necessary; and (iii) we tune the parameters of our cascade to achieve effective overall performance. These changes allow us to significantly improve upon the performance our original state-of-the-art method was able to achieve on the well-known 7-Scenes and Stanford 4 Scenes benchmarks. As additional contributions, we present a way of visualising the internal behaviour of our forests and show how to entirely circumvent the need to pre-train a forest on a generic scene.Comment: Tommaso Cavallari, Stuart Golodetz, Nicholas Lord and Julien Valentin assert joint first authorshi

Image Sampling with Quasicrystals

We investigate the use of quasicrystals in image sampling. Quasicrystals produce space-filling, non-periodic point sets that are uniformly discrete and relatively dense, thereby ensuring the sample sites are evenly spread out throughout the sampled image. Their self-similar structure can be attractive for creating sampling patterns endowed with a decorative symmetry. We present a brief general overview of the algebraic theory of cut-and-project quasicrystals based on the geometry of the golden ratio. To assess the practical utility of quasicrystal sampling, we evaluate the visual effects of a variety of non-adaptive image sampling strategies on photorealistic image reconstruction and non-photorealistic image rendering used in multiresolution image representations. For computer visualization of point sets used in image sampling, we introduce a mosaic rendering technique.Comment: For a full resolution version of this paper, along with supplementary materials, please visit at http://www.Eyemaginary.com/Portfolio/Publications.htm

A Fast Parallel Poisson Solver on Irregular Domains Applied to Beam Dynamic Simulations

We discuss the scalable parallel solution of the Poisson equation within a Particle-In-Cell (PIC) code for the simulation of electron beams in particle accelerators of irregular shape. The problem is discretized by Finite Differences. Depending on the treatment of the Dirichlet boundary the resulting system of equations is symmetric or `mildly' nonsymmetric positive definite. In all cases, the system is solved by the preconditioned conjugate gradient algorithm with smoothed aggregation (SA) based algebraic multigrid (AMG) preconditioning. We investigate variants of the implementation of SA-AMG that lead to considerable improvements in the execution times. We demonstrate good scalability of the solver on distributed memory parallel processor with up to 2048 processors. We also compare our SAAMG-PCG solver with an FFT-based solver that is more commonly used for applications in beam dynamics