13,655 research outputs found
Fine-grained sketch-based image retrieval by matching deformable part models
(c) 2014. The copyright of this document resides with its authors.
It may be distributed unchanged freely in print or electronic forms.© 2014. The copyright of this document resides with its authors. An important characteristic of sketches, compared with text, rests with their ability to intrinsically capture object appearance and structure. Nonetheless, akin to traditional text-based image retrieval, conventional sketch-based image retrieval (SBIR) principally focuses on retrieving images of the same category, neglecting the fine-grained characteristics of sketches. In this paper, we advocate the expressiveness of sketches and examine their efficacy under a novel fine-grained SBIR framework. In particular, we study how sketches enable fine-grained retrieval within object categories. Key to this problem is introducing a mid-level sketch representation that not only captures object pose, but also possesses the ability to traverse sketch and image domains. Specifically, we learn deformable part-based model (DPM) as a mid-level representation to discover and encode the various poses in sketch and image domains independently, after which graph matching is performed on DPMs to establish pose correspondences across the two domains. We further propose an SBIR dataset that covers the unique aspects of fine-grained SBIR. Through in-depth experiments, we demonstrate the superior performance of our SBIR framework, and showcase its unique ability in fine-grained retrieval
Convolutional neural network architecture for geometric matching
We address the problem of determining correspondences between two images in
agreement with a geometric model such as an affine or thin-plate spline
transformation, and estimating its parameters. The contributions of this work
are three-fold. First, we propose a convolutional neural network architecture
for geometric matching. The architecture is based on three main components that
mimic the standard steps of feature extraction, matching and simultaneous
inlier detection and model parameter estimation, while being trainable
end-to-end. Second, we demonstrate that the network parameters can be trained
from synthetically generated imagery without the need for manual annotation and
that our matching layer significantly increases generalization capabilities to
never seen before images. Finally, we show that the same model can perform both
instance-level and category-level matching giving state-of-the-art results on
the challenging Proposal Flow dataset.Comment: In 2017 IEEE Conference on Computer Vision and Pattern Recognition
(CVPR 2017
Keyframe-based monocular SLAM: design, survey, and future directions
Extensive research in the field of monocular SLAM for the past fifteen years
has yielded workable systems that found their way into various applications in
robotics and augmented reality. Although filter-based monocular SLAM systems
were common at some time, the more efficient keyframe-based solutions are
becoming the de facto methodology for building a monocular SLAM system. The
objective of this paper is threefold: first, the paper serves as a guideline
for people seeking to design their own monocular SLAM according to specific
environmental constraints. Second, it presents a survey that covers the various
keyframe-based monocular SLAM systems in the literature, detailing the
components of their implementation, and critically assessing the specific
strategies made in each proposed solution. Third, the paper provides insight
into the direction of future research in this field, to address the major
limitations still facing monocular SLAM; namely, in the issues of illumination
changes, initialization, highly dynamic motion, poorly textured scenes,
repetitive textures, map maintenance, and failure recovery
Proposal Flow: Semantic Correspondences from Object Proposals
Finding image correspondences remains a challenging problem in the presence
of intra-class variations and large changes in scene layout. Semantic flow
methods are designed to handle images depicting different instances of the same
object or scene category. We introduce a novel approach to semantic flow,
dubbed proposal flow, that establishes reliable correspondences using object
proposals. Unlike prevailing semantic flow approaches that operate on pixels or
regularly sampled local regions, proposal flow benefits from the
characteristics of modern object proposals, that exhibit high repeatability at
multiple scales, and can take advantage of both local and geometric consistency
constraints among proposals. We also show that the corresponding sparse
proposal flow can effectively be transformed into a conventional dense flow
field. We introduce two new challenging datasets that can be used to evaluate
both general semantic flow techniques and region-based approaches such as
proposal flow. We use these benchmarks to compare different matching
algorithms, object proposals, and region features within proposal flow, to the
state of the art in semantic flow. This comparison, along with experiments on
standard datasets, demonstrates that proposal flow significantly outperforms
existing semantic flow methods in various settings.Comment: arXiv admin note: text overlap with arXiv:1511.0506
Efficient Constellation-Based Map-Merging for Semantic SLAM
Data association in SLAM is fundamentally challenging, and handling ambiguity
well is crucial to achieve robust operation in real-world environments. When
ambiguous measurements arise, conservatism often mandates that the measurement
is discarded or a new landmark is initialized rather than risking an incorrect
association. To address the inevitable `duplicate' landmarks that arise, we
present an efficient map-merging framework to detect duplicate constellations
of landmarks, providing a high-confidence loop-closure mechanism well-suited
for object-level SLAM. This approach uses an incrementally-computable
approximation of landmark uncertainty that only depends on local information in
the SLAM graph, avoiding expensive recovery of the full system covariance
matrix. This enables a search based on geometric consistency (GC) (rather than
full joint compatibility (JC)) that inexpensively reduces the search space to a
handful of `best' hypotheses. Furthermore, we reformulate the commonly-used
interpretation tree to allow for more efficient integration of clique-based
pairwise compatibility, accelerating the branch-and-bound max-cardinality
search. Our method is demonstrated to match the performance of full JC methods
at significantly-reduced computational cost, facilitating robust object-based
loop-closure over large SLAM problems.Comment: Accepted to IEEE International Conference on Robotics and Automation
(ICRA) 201
Deformable Shape Completion with Graph Convolutional Autoencoders
The availability of affordable and portable depth sensors has made scanning
objects and people simpler than ever. However, dealing with occlusions and
missing parts is still a significant challenge. The problem of reconstructing a
(possibly non-rigidly moving) 3D object from a single or multiple partial scans
has received increasing attention in recent years. In this work, we propose a
novel learning-based method for the completion of partial shapes. Unlike the
majority of existing approaches, our method focuses on objects that can undergo
non-rigid deformations. The core of our method is a variational autoencoder
with graph convolutional operations that learns a latent space for complete
realistic shapes. At inference, we optimize to find the representation in this
latent space that best fits the generated shape to the known partial input. The
completed shape exhibits a realistic appearance on the unknown part. We show
promising results towards the completion of synthetic and real scans of human
body and face meshes exhibiting different styles of articulation and
partiality.Comment: CVPR 201
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