Semantic Visual Localization

Robust visual localization under a wide range of viewing conditions is a fundamental problem in computer vision. Handling the difficult cases of this problem is not only very challenging but also of high practical relevance, e.g., in the context of life-long localization for augmented reality or autonomous robots. In this paper, we propose a novel approach based on a joint 3D geometric and semantic understanding of the world, enabling it to succeed under conditions where previous approaches failed. Our method leverages a novel generative model for descriptor learning, trained on semantic scene completion as an auxiliary task. The resulting 3D descriptors are robust to missing observations by encoding high-level 3D geometric and semantic information. Experiments on several challenging large-scale localization datasets demonstrate reliable localization under extreme viewpoint, illumination, and geometry changes

Region-Based Image Retrieval Revisited

Region-based image retrieval (RBIR) technique is revisited. In early attempts at RBIR in the late 90s, researchers found many ways to specify region-based queries and spatial relationships; however, the way to characterize the regions, such as by using color histograms, were very poor at that time. Here, we revisit RBIR by incorporating semantic specification of objects and intuitive specification of spatial relationships. Our contributions are the following. First, to support multiple aspects of semantic object specification (category, instance, and attribute), we propose a multitask CNN feature that allows us to use deep learning technique and to jointly handle multi-aspect object specification. Second, to help users specify spatial relationships among objects in an intuitive way, we propose recommendation techniques of spatial relationships. In particular, by mining the search results, a system can recommend feasible spatial relationships among the objects. The system also can recommend likely spatial relationships by assigned object category names based on language prior. Moreover, object-level inverted indexing supports very fast shortlist generation, and re-ranking based on spatial constraints provides users with instant RBIR experiences.Comment: To appear in ACM Multimedia 2017 (Oral