Robust 3-Dimensional Object Recognition using Stereo Vision and Geometric Hashing

We propose a technique that combines geometric hashing with stereo vision. The idea is to use the robustness of geometric hashing to spurious data to overcome the correspondence problem, while the stereo vision setup enables direct model matching using the 3-D object models. Furthermore, because the matching technique relies on the relative positions of local features, we should be able to perform robust recognition even with partially occluded objects. We tested this approach with simple geometric objects using a corner point detector. We successfully recognized objects even in scenes where the objects were partially occluded by other objects. For complicated scenes, however, the limited set of model features and required amount of computing time, sometimes became a proble

Optimal lower bounds for locality sensitive hashing (except when q is tiny)

We study lower bounds for Locality Sensitive Hashing (LSH) in the strongest setting: point sets in {0,1}^d under the Hamming distance. Recall that here H is said to be an (r, cr, p, q)-sensitive hash family if all pairs x, y in {0,1}^d with dist(x,y) at most r have probability at least p of collision under a randomly chosen h in H, whereas all pairs x, y in {0,1}^d with dist(x,y) at least cr have probability at most q of collision. Typically, one considers d tending to infinity, with c fixed and q bounded away from 0. For its applications to approximate nearest neighbor search in high dimensions, the quality of an LSH family H is governed by how small its "rho parameter" rho = ln(1/p)/ln(1/q) is as a function of the parameter c. The seminal paper of Indyk and Motwani showed that for each c, the extremely simple family H = {x -> x_i : i in d} achieves rho at most 1/c. The only known lower bound, due to Motwani, Naor, and Panigrahy, is that rho must be at least .46/c (minus o_d(1)). In this paper we show an optimal lower bound: rho must be at least 1/c (minus o_d(1)). This lower bound for Hamming space yields a lower bound of 1/c^2 for Euclidean space (or the unit sphere) and 1/c for the Jaccard distance on sets; both of these match known upper bounds. Our proof is simple; the essence is that the noise stability of a boolean function at e^{-t} is a log-convex function of t.Comment: 9 pages + abstract and reference