22,613 research outputs found
Real-time Monocular Object SLAM
We present a real-time object-based SLAM system that leverages the largest
object database to date. Our approach comprises two main components: 1) a
monocular SLAM algorithm that exploits object rigidity constraints to improve
the map and find its real scale, and 2) a novel object recognition algorithm
based on bags of binary words, which provides live detections with a database
of 500 3D objects. The two components work together and benefit each other: the
SLAM algorithm accumulates information from the observations of the objects,
anchors object features to especial map landmarks and sets constrains on the
optimization. At the same time, objects partially or fully located within the
map are used as a prior to guide the recognition algorithm, achieving higher
recall. We evaluate our proposal on five real environments showing improvements
on the accuracy of the map and efficiency with respect to other
state-of-the-art techniques
Planar PØP: feature-less pose estimation with applications in UAV localization
© 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.We present a featureless pose estimation method that, in contrast to current Perspective-n-Point (PnP) approaches, it does not require n point correspondences to obtain the camera pose, allowing for pose estimation from natural shapes that do not necessarily have distinguished features like corners or intersecting edges. Instead of using n correspondences (e.g. extracted with a feature detector) we will use the raw polygonal representation of the observed shape and directly estimate the pose in the pose-space of the camera. This method compared with a general PnP method, does not require n point correspondences neither a priori knowledge of the object model (except the scale), which is registered with a picture taken from a known robot pose. Moreover, we achieve higher precision because all the information of the shape contour is used to minimize the area between the projected and the observed shape contours. To emphasize the non-use of n point correspondences between the projected template and observed contour shape, we call the method Planar PØP. The method is shown both in simulation and in a real application consisting on a UAV localization where comparisons with a precise ground-truth are provided.Peer ReviewedPostprint (author's final draft
WarpNet: Weakly Supervised Matching for Single-view Reconstruction
We present an approach to matching images of objects in fine-grained datasets
without using part annotations, with an application to the challenging problem
of weakly supervised single-view reconstruction. This is in contrast to prior
works that require part annotations, since matching objects across class and
pose variations is challenging with appearance features alone. We overcome this
challenge through a novel deep learning architecture, WarpNet, that aligns an
object in one image with a different object in another. We exploit the
structure of the fine-grained dataset to create artificial data for training
this network in an unsupervised-discriminative learning approach. The output of
the network acts as a spatial prior that allows generalization at test time to
match real images across variations in appearance, viewpoint and articulation.
On the CUB-200-2011 dataset of bird categories, we improve the AP over an
appearance-only network by 13.6%. We further demonstrate that our WarpNet
matches, together with the structure of fine-grained datasets, allow
single-view reconstructions with quality comparable to using annotated point
correspondences.Comment: to appear in IEEE Conference on Computer Vision and Pattern
Recognition (CVPR) 201
Structure from Recurrent Motion: From Rigidity to Recurrency
This paper proposes a new method for Non-Rigid Structure-from-Motion (NRSfM)
from a long monocular video sequence observing a non-rigid object performing
recurrent and possibly repetitive dynamic action. Departing from the
traditional idea of using linear low-order or lowrank shape model for the task
of NRSfM, our method exploits the property of shape recurrency (i.e., many
deforming shapes tend to repeat themselves in time). We show that recurrency is
in fact a generalized rigidity. Based on this, we reduce NRSfM problems to
rigid ones provided that certain recurrency condition is satisfied. Given such
a reduction, standard rigid-SfM techniques are directly applicable (without any
change) to the reconstruction of non-rigid dynamic shapes. To implement this
idea as a practical approach, this paper develops efficient algorithms for
automatic recurrency detection, as well as camera view clustering via a
rigidity-check. Experiments on both simulated sequences and real data
demonstrate the effectiveness of the method. Since this paper offers a novel
perspective on rethinking structure-from-motion, we hope it will inspire other
new problems in the field.Comment: To appear in CVPR 201
iPose: Instance-Aware 6D Pose Estimation of Partly Occluded Objects
We address the task of 6D pose estimation of known rigid objects from single
input images in scenarios where the objects are partly occluded. Recent
RGB-D-based methods are robust to moderate degrees of occlusion. For RGB
inputs, no previous method works well for partly occluded objects. Our main
contribution is to present the first deep learning-based system that estimates
accurate poses for partly occluded objects from RGB-D and RGB input. We achieve
this with a new instance-aware pipeline that decomposes 6D object pose
estimation into a sequence of simpler steps, where each step removes specific
aspects of the problem. The first step localizes all known objects in the image
using an instance segmentation network, and hence eliminates surrounding
clutter and occluders. The second step densely maps pixels to 3D object surface
positions, so called object coordinates, using an encoder-decoder network, and
hence eliminates object appearance. The third, and final, step predicts the 6D
pose using geometric optimization. We demonstrate that we significantly
outperform the state-of-the-art for pose estimation of partly occluded objects
for both RGB and RGB-D input
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