492 research outputs found
Adding Cues to Binary Feature Descriptors for Visual Place Recognition
In this paper we propose an approach to embed continuous and selector cues in
binary feature descriptors used for visual place recognition. The embedding is
achieved by extending each feature descriptor with a binary string that encodes
a cue and supports the Hamming distance metric. Augmenting the descriptors in
such a way has the advantage of being transparent to the procedure used to
compare them. We present two concrete applications of our methodology,
demonstrating the two considered types of cues. In addition to that, we
conducted on these applications a broad quantitative and comparative evaluation
covering five benchmark datasets and several state-of-the-art image retrieval
approaches in combination with various binary descriptor types.Comment: 8 pages, 8 figures, source: www.gitlab.com/srrg-software/srrg_bench,
submitted to ICRA 201
Packing and Padding: Coupled Multi-index for Accurate Image Retrieval
In Bag-of-Words (BoW) based image retrieval, the SIFT visual word has a low
discriminative power, so false positive matches occur prevalently. Apart from
the information loss during quantization, another cause is that the SIFT
feature only describes the local gradient distribution. To address this
problem, this paper proposes a coupled Multi-Index (c-MI) framework to perform
feature fusion at indexing level. Basically, complementary features are coupled
into a multi-dimensional inverted index. Each dimension of c-MI corresponds to
one kind of feature, and the retrieval process votes for images similar in both
SIFT and other feature spaces. Specifically, we exploit the fusion of local
color feature into c-MI. While the precision of visual match is greatly
enhanced, we adopt Multiple Assignment to improve recall. The joint cooperation
of SIFT and color features significantly reduces the impact of false positive
matches.
Extensive experiments on several benchmark datasets demonstrate that c-MI
improves the retrieval accuracy significantly, while consuming only half of the
query time compared to the baseline. Importantly, we show that c-MI is well
complementary to many prior techniques. Assembling these methods, we have
obtained an mAP of 85.8% and N-S score of 3.85 on Holidays and Ukbench
datasets, respectively, which compare favorably with the state-of-the-arts.Comment: 8 pages, 7 figures, 6 tables. Accepted to CVPR 201
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