4,447 research outputs found
Image based visual servoing using bitangent points applied to planar shape alignment
We present visual servoing strategies based on bitangents for aligning planar shapes. In order to acquire bitangents we use convex-hull of a curve. Bitangent points are employed in the construction of a feature vector to be used in visual control. Experimental results obtained on a 7 DOF Mitsubishi PA10 robot, verifies the proposed method
Many-to-Many Graph Matching: a Continuous Relaxation Approach
Graphs provide an efficient tool for object representation in various
computer vision applications. Once graph-based representations are constructed,
an important question is how to compare graphs. This problem is often
formulated as a graph matching problem where one seeks a mapping between
vertices of two graphs which optimally aligns their structure. In the classical
formulation of graph matching, only one-to-one correspondences between vertices
are considered. However, in many applications, graphs cannot be matched
perfectly and it is more interesting to consider many-to-many correspondences
where clusters of vertices in one graph are matched to clusters of vertices in
the other graph. In this paper, we formulate the many-to-many graph matching
problem as a discrete optimization problem and propose an approximate algorithm
based on a continuous relaxation of the combinatorial problem. We compare our
method with other existing methods on several benchmark computer vision
datasets.Comment: 1
Weakly-Supervised Alignment of Video With Text
Suppose that we are given a set of videos, along with natural language
descriptions in the form of multiple sentences (e.g., manual annotations, movie
scripts, sport summaries etc.), and that these sentences appear in the same
temporal order as their visual counterparts. We propose in this paper a method
for aligning the two modalities, i.e., automatically providing a time stamp for
every sentence. Given vectorial features for both video and text, we propose to
cast this task as a temporal assignment problem, with an implicit linear
mapping between the two feature modalities. We formulate this problem as an
integer quadratic program, and solve its continuous convex relaxation using an
efficient conditional gradient algorithm. Several rounding procedures are
proposed to construct the final integer solution. After demonstrating
significant improvements over the state of the art on the related task of
aligning video with symbolic labels [7], we evaluate our method on a
challenging dataset of videos with associated textual descriptions [36], using
both bag-of-words and continuous representations for text.Comment: ICCV 2015 - IEEE International Conference on Computer Vision, Dec
2015, Santiago, Chil
Dense 3D Face Correspondence
We present an algorithm that automatically establishes dense correspondences
between a large number of 3D faces. Starting from automatically detected sparse
correspondences on the outer boundary of 3D faces, the algorithm triangulates
existing correspondences and expands them iteratively by matching points of
distinctive surface curvature along the triangle edges. After exhausting
keypoint matches, further correspondences are established by generating evenly
distributed points within triangles by evolving level set geodesic curves from
the centroids of large triangles. A deformable model (K3DM) is constructed from
the dense corresponded faces and an algorithm is proposed for morphing the K3DM
to fit unseen faces. This algorithm iterates between rigid alignment of an
unseen face followed by regularized morphing of the deformable model. We have
extensively evaluated the proposed algorithms on synthetic data and real 3D
faces from the FRGCv2, Bosphorus, BU3DFE and UND Ear databases using
quantitative and qualitative benchmarks. Our algorithm achieved dense
correspondences with a mean localisation error of 1.28mm on synthetic faces and
detected anthropometric landmarks on unseen real faces from the FRGCv2
database with 3mm precision. Furthermore, our deformable model fitting
algorithm achieved 98.5% face recognition accuracy on the FRGCv2 and 98.6% on
Bosphorus database. Our dense model is also able to generalize to unseen
datasets.Comment: 24 Pages, 12 Figures, 6 Tables and 3 Algorithm
3D Shape Estimation from 2D Landmarks: A Convex Relaxation Approach
We investigate the problem of estimating the 3D shape of an object, given a
set of 2D landmarks in a single image. To alleviate the reconstruction
ambiguity, a widely-used approach is to confine the unknown 3D shape within a
shape space built upon existing shapes. While this approach has proven to be
successful in various applications, a challenging issue remains, i.e., the
joint estimation of shape parameters and camera-pose parameters requires to
solve a nonconvex optimization problem. The existing methods often adopt an
alternating minimization scheme to locally update the parameters, and
consequently the solution is sensitive to initialization. In this paper, we
propose a convex formulation to address this problem and develop an efficient
algorithm to solve the proposed convex program. We demonstrate the exact
recovery property of the proposed method, its merits compared to alternative
methods, and the applicability in human pose and car shape estimation.Comment: In Proceedings of CVPR 201
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