53,381 research outputs found
Comparing Feature Detectors: A bias in the repeatability criteria, and how to correct it
Most computer vision application rely on algorithms finding local
correspondences between different images. These algorithms detect and compare
stable local invariant descriptors centered at scale-invariant keypoints.
Because of the importance of the problem, new keypoint detectors and
descriptors are constantly being proposed, each one claiming to perform better
(or to be complementary) to the preceding ones. This raises the question of a
fair comparison between very diverse methods. This evaluation has been mainly
based on a repeatability criterion of the keypoints under a series of image
perturbations (blur, illumination, noise, rotations, homotheties, homographies,
etc). In this paper, we argue that the classic repeatability criterion is
biased towards algorithms producing redundant overlapped detections. To
compensate this bias, we propose a variant of the repeatability rate taking
into account the descriptors overlap. We apply this variant to revisit the
popular benchmark by Mikolajczyk et al., on classic and new feature detectors.
Experimental evidence shows that the hierarchy of these feature detectors is
severely disrupted by the amended comparator.Comment: Fixed typo in affiliation
SuperPoint: Self-Supervised Interest Point Detection and Description
This paper presents a self-supervised framework for training interest point
detectors and descriptors suitable for a large number of multiple-view geometry
problems in computer vision. As opposed to patch-based neural networks, our
fully-convolutional model operates on full-sized images and jointly computes
pixel-level interest point locations and associated descriptors in one forward
pass. We introduce Homographic Adaptation, a multi-scale, multi-homography
approach for boosting interest point detection repeatability and performing
cross-domain adaptation (e.g., synthetic-to-real). Our model, when trained on
the MS-COCO generic image dataset using Homographic Adaptation, is able to
repeatedly detect a much richer set of interest points than the initial
pre-adapted deep model and any other traditional corner detector. The final
system gives rise to state-of-the-art homography estimation results on HPatches
when compared to LIFT, SIFT and ORB.Comment: Camera-ready version for CVPR 2018 Deep Learning for Visual SLAM
Workshop (DL4VSLAM2018
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High-speed multi-dimensional relative navigation for uncooperative space objects
This work proposes a high-speed Light Detection and Ranging (LIDAR) based navigation architecture that is appropriate for uncooperative relative space navigation applications. In contrast to current solutions that exploit 3D LIDAR data, our architecture transforms the odometry problem from the 3D space into multiple 2.5D ones and completes the odometry problem by utilizing a recursive filtering scheme. Trials evaluate several current state-of-the-art 2D keypoint detection and local feature description methods as well as recursive filtering techniques on a number of simulated but credible scenarios that involve a satellite model developed by Thales Alenia Space (France). Most appealing performance is attained by the 2D keypoint detector Good Features to Track (GFFT) combined with the feature descriptor KAZE, that are further combined with either the H∞ or the Kalman recursive filter. Experimental results demonstrate that compared to current algorithms, the GFTT/KAZE combination is highly appealing affording one order of magnitude more accurate odometry and a very low processing burden, which depending on the competitor method, may exceed one order of magnitude faster computation
Registration and Fusion of Multi-Spectral Images Using a Novel Edge Descriptor
In this paper we introduce a fully end-to-end approach for multi-spectral
image registration and fusion. Our method for fusion combines images from
different spectral channels into a single fused image by different approaches
for low and high frequency signals. A prerequisite of fusion is a stage of
geometric alignment between the spectral bands, commonly referred to as
registration. Unfortunately, common methods for image registration of a single
spectral channel do not yield reasonable results on images from different
modalities. For that end, we introduce a new algorithm for multi-spectral image
registration, based on a novel edge descriptor of feature points. Our method
achieves an accurate alignment of a level that allows us to further fuse the
images. As our experiments show, we produce a high quality of multi-spectral
image registration and fusion under many challenging scenarios
Automated Visual Fin Identification of Individual Great White Sharks
This paper discusses the automated visual identification of individual great
white sharks from dorsal fin imagery. We propose a computer vision photo ID
system and report recognition results over a database of thousands of
unconstrained fin images. To the best of our knowledge this line of work
establishes the first fully automated contour-based visual ID system in the
field of animal biometrics. The approach put forward appreciates shark fins as
textureless, flexible and partially occluded objects with an individually
characteristic shape. In order to recover animal identities from an image we
first introduce an open contour stroke model, which extends multi-scale region
segmentation to achieve robust fin detection. Secondly, we show that
combinatorial, scale-space selective fingerprinting can successfully encode fin
individuality. We then measure the species-specific distribution of visual
individuality along the fin contour via an embedding into a global `fin space'.
Exploiting this domain, we finally propose a non-linear model for individual
animal recognition and combine all approaches into a fine-grained
multi-instance framework. We provide a system evaluation, compare results to
prior work, and report performance and properties in detail.Comment: 17 pages, 16 figures. To be published in IJCV. Article replaced to
update first author contact details and to correct a Figure reference on page
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