25,408 research outputs found
Learning Matchable Image Transformations for Long-term Metric Visual Localization
Long-term metric self-localization is an essential capability of autonomous
mobile robots, but remains challenging for vision-based systems due to
appearance changes caused by lighting, weather, or seasonal variations. While
experience-based mapping has proven to be an effective technique for bridging
the `appearance gap,' the number of experiences required for reliable metric
localization over days or months can be very large, and methods for reducing
the necessary number of experiences are needed for this approach to scale.
Taking inspiration from color constancy theory, we learn a nonlinear
RGB-to-grayscale mapping that explicitly maximizes the number of inlier feature
matches for images captured under different lighting and weather conditions,
and use it as a pre-processing step in a conventional single-experience
localization pipeline to improve its robustness to appearance change. We train
this mapping by approximating the target non-differentiable localization
pipeline with a deep neural network, and find that incorporating a learned
low-dimensional context feature can further improve cross-appearance feature
matching. Using synthetic and real-world datasets, we demonstrate substantial
improvements in localization performance across day-night cycles, enabling
continuous metric localization over a 30-hour period using a single mapping
experience, and allowing experience-based localization to scale to long
deployments with dramatically reduced data requirements.Comment: In IEEE Robotics and Automation Letters (RA-L) and presented at the
IEEE International Conference on Robotics and Automation (ICRA'20), Paris,
France, May 31-June 4, 202
Polar Fusion Technique Analysis for Evaluating the Performances of Image Fusion of Thermal and Visual Images for Human Face Recognition
This paper presents a comparative study of two different methods, which are
based on fusion and polar transformation of visual and thermal images. Here,
investigation is done to handle the challenges of face recognition, which
include pose variations, changes in facial expression, partial occlusions,
variations in illumination, rotation through different angles, change in scale
etc. To overcome these obstacles we have implemented and thoroughly examined
two different fusion techniques through rigorous experimentation. In the first
method log-polar transformation is applied to the fused images obtained after
fusion of visual and thermal images whereas in second method fusion is applied
on log-polar transformed individual visual and thermal images. After this step,
which is thus obtained in one form or another, Principal Component Analysis
(PCA) is applied to reduce dimension of the fused images. Log-polar transformed
images are capable of handling complicacies introduced by scaling and rotation.
The main objective of employing fusion is to produce a fused image that
provides more detailed and reliable information, which is capable to overcome
the drawbacks present in the individual visual and thermal face images.
Finally, those reduced fused images are classified using a multilayer
perceptron neural network. The database used for the experiments conducted here
is Object Tracking and Classification Beyond Visible Spectrum (OTCBVS) database
benchmark thermal and visual face images. The second method has shown better
performance, which is 95.71% (maximum) and on an average 93.81% as correct
recognition rate.Comment: Proceedings of IEEE Workshop on Computational Intelligence in
Biometrics and Identity Management (IEEE CIBIM 2011), Paris, France, April 11
- 15, 201
Self-Selective Correlation Ship Tracking Method for Smart Ocean System
In recent years, with the development of the marine industry, navigation
environment becomes more complicated. Some artificial intelligence
technologies, such as computer vision, can recognize, track and count the
sailing ships to ensure the maritime security and facilitates the management
for Smart Ocean System. Aiming at the scaling problem and boundary effect
problem of traditional correlation filtering methods, we propose a
self-selective correlation filtering method based on box regression (BRCF). The
proposed method mainly include: 1) A self-selective model with negative samples
mining method which effectively reduces the boundary effect in strengthening
the classification ability of classifier at the same time; 2) A bounding box
regression method combined with a key points matching method for the scale
prediction, leading to a fast and efficient calculation. The experimental
results show that the proposed method can effectively deal with the problem of
ship size changes and background interference. The success rates and precisions
were higher than Discriminative Scale Space Tracking (DSST) by over 8
percentage points on the marine traffic dataset of our laboratory. In terms of
processing speed, the proposed method is higher than DSST by nearly 22 Frames
Per Second (FPS)
Recent Advances in Transfer Learning for Cross-Dataset Visual Recognition: A Problem-Oriented Perspective
This paper takes a problem-oriented perspective and presents a comprehensive
review of transfer learning methods, both shallow and deep, for cross-dataset
visual recognition. Specifically, it categorises the cross-dataset recognition
into seventeen problems based on a set of carefully chosen data and label
attributes. Such a problem-oriented taxonomy has allowed us to examine how
different transfer learning approaches tackle each problem and how well each
problem has been researched to date. The comprehensive problem-oriented review
of the advances in transfer learning with respect to the problem has not only
revealed the challenges in transfer learning for visual recognition, but also
the problems (e.g. eight of the seventeen problems) that have been scarcely
studied. This survey not only presents an up-to-date technical review for
researchers, but also a systematic approach and a reference for a machine
learning practitioner to categorise a real problem and to look up for a
possible solution accordingly
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