119 research outputs found
Monocular SLAM Supported Object Recognition
In this work, we develop a monocular SLAM-aware object recognition system
that is able to achieve considerably stronger recognition performance, as
compared to classical object recognition systems that function on a
frame-by-frame basis. By incorporating several key ideas including multi-view
object proposals and efficient feature encoding methods, our proposed system is
able to detect and robustly recognize objects in its environment using a single
RGB camera in near-constant time. Through experiments, we illustrate the
utility of using such a system to effectively detect and recognize objects,
incorporating multiple object viewpoint detections into a unified prediction
hypothesis. The performance of the proposed recognition system is evaluated on
the UW RGB-D Dataset, showing strong recognition performance and scalable
run-time performance compared to current state-of-the-art recognition systems.Comment: Accepted to appear at Robotics: Science and Systems 2015, Rome, Ital
Particular object retrieval with integral max-pooling of CNN activations
Recently, image representation built upon Convolutional Neural Network (CNN)
has been shown to provide effective descriptors for image search, outperforming
pre-CNN features as short-vector representations. Yet such models are not
compatible with geometry-aware re-ranking methods and still outperformed, on
some particular object retrieval benchmarks, by traditional image search
systems relying on precise descriptor matching, geometric re-ranking, or query
expansion. This work revisits both retrieval stages, namely initial search and
re-ranking, by employing the same primitive information derived from the CNN.
We build compact feature vectors that encode several image regions without the
need to feed multiple inputs to the network. Furthermore, we extend integral
images to handle max-pooling on convolutional layer activations, allowing us to
efficiently localize matching objects. The resulting bounding box is finally
used for image re-ranking. As a result, this paper significantly improves
existing CNN-based recognition pipeline: We report for the first time results
competing with traditional methods on the challenging Oxford5k and Paris6k
datasets
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