5,391 research outputs found
Real-Time Feature Descriptor Matching via a Multi-Resolution Exhaustive Search Method
[[abstract]]Feature descriptor matching plays an important role in many computer vision applications. This paper presents a novel fast linear exhaustive search algorithm combined with a multi-resolution candidate elimination technique to deal with this problem efficiently. The proposed algorithm is inspired from the existing multi-resolution image retrieval approaches, but releasing the requirement on a norm-sorted database with pre-computed multi-resolution tables. This helps to increase the applicability of the proposed method. Moreover, the computations of candidate elimination are fully performed using a simple L1 distance metric, which is able to speedup the entire search process without loss of accuracy. This property leads to an accurate feature descriptor matching algorithm with real-time performance, which will be validated in the experiments by testing with the matching of SURF descriptors.[[booktype]]ç´™
D2-Net: A Trainable CNN for Joint Detection and Description of Local Features
In this work we address the problem of finding reliable pixel-level
correspondences under difficult imaging conditions. We propose an approach
where a single convolutional neural network plays a dual role: It is
simultaneously a dense feature descriptor and a feature detector. By postponing
the detection to a later stage, the obtained keypoints are more stable than
their traditional counterparts based on early detection of low-level
structures. We show that this model can be trained using pixel correspondences
extracted from readily available large-scale SfM reconstructions, without any
further annotations. The proposed method obtains state-of-the-art performance
on both the difficult Aachen Day-Night localization dataset and the InLoc
indoor localization benchmark, as well as competitive performance on other
benchmarks for image matching and 3D reconstruction.Comment: Accepted at CVPR 201
Particular object retrieval with integral max-pooling of CNN activations
Recently, image representation built upon Convolutional Neural Network (CNN)
has been shown to provide effective descriptors for image search, outperforming
pre-CNN features as short-vector representations. Yet such models are not
compatible with geometry-aware re-ranking methods and still outperformed, on
some particular object retrieval benchmarks, by traditional image search
systems relying on precise descriptor matching, geometric re-ranking, or query
expansion. This work revisits both retrieval stages, namely initial search and
re-ranking, by employing the same primitive information derived from the CNN.
We build compact feature vectors that encode several image regions without the
need to feed multiple inputs to the network. Furthermore, we extend integral
images to handle max-pooling on convolutional layer activations, allowing us to
efficiently localize matching objects. The resulting bounding box is finally
used for image re-ranking. As a result, this paper significantly improves
existing CNN-based recognition pipeline: We report for the first time results
competing with traditional methods on the challenging Oxford5k and Paris6k
datasets
Benchmarking 6DOF Outdoor Visual Localization in Changing Conditions
Visual localization enables autonomous vehicles to navigate in their
surroundings and augmented reality applications to link virtual to real worlds.
Practical visual localization approaches need to be robust to a wide variety of
viewing condition, including day-night changes, as well as weather and seasonal
variations, while providing highly accurate 6 degree-of-freedom (6DOF) camera
pose estimates. In this paper, we introduce the first benchmark datasets
specifically designed for analyzing the impact of such factors on visual
localization. Using carefully created ground truth poses for query images taken
under a wide variety of conditions, we evaluate the impact of various factors
on 6DOF camera pose estimation accuracy through extensive experiments with
state-of-the-art localization approaches. Based on our results, we draw
conclusions about the difficulty of different conditions, showing that
long-term localization is far from solved, and propose promising avenues for
future work, including sequence-based localization approaches and the need for
better local features. Our benchmark is available at visuallocalization.net.Comment: Accepted to CVPR 2018 as a spotligh
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
From 3D Point Clouds to Pose-Normalised Depth Maps
We consider the problem of generating either pairwise-aligned or pose-normalised depth maps from noisy 3D point clouds in a relatively unrestricted poses. Our system is deployed in a 3D face alignment application and consists of the following four stages: (i) data filtering, (ii) nose tip identification and sub-vertex localisation, (iii) computation of the (relative) face orientation, (iv) generation of either a pose aligned or a pose normalised depth map. We generate an implicit radial basis function (RBF) model of the facial surface and this is employed within all four stages of the process. For example, in stage (ii), construction of novel invariant features is based on sampling this RBF over a set of concentric spheres to give a spherically-sampled RBF (SSR) shape histogram. In stage (iii), a second novel descriptor, called an isoradius contour curvature signal, is defined, which allows rotational alignment to be determined using a simple process of 1D correlation. We test our system on both the University of York (UoY) 3D face dataset and the Face Recognition Grand Challenge (FRGC) 3D data. For the more challenging UoY data, our SSR descriptors significantly outperform three variants of spin images, successfully identifying nose vertices at a rate of 99.6%. Nose localisation performance on the higher quality FRGC data, which has only small pose variations, is 99.9%. Our best system successfully normalises the pose of 3D faces at rates of 99.1% (UoY data) and 99.6% (FRGC data)
Learned Multi-Patch Similarity
Estimating a depth map from multiple views of a scene is a fundamental task
in computer vision. As soon as more than two viewpoints are available, one
faces the very basic question how to measure similarity across >2 image
patches. Surprisingly, no direct solution exists, instead it is common to fall
back to more or less robust averaging of two-view similarities. Encouraged by
the success of machine learning, and in particular convolutional neural
networks, we propose to learn a matching function which directly maps multiple
image patches to a scalar similarity score. Experiments on several multi-view
datasets demonstrate that this approach has advantages over methods based on
pairwise patch similarity.Comment: 10 pages, 7 figures, Accepted at ICCV 201
Visual 3-D SLAM from UAVs
The aim of the paper is to present, test and discuss the implementation of Visual SLAM techniques to images taken from Unmanned Aerial Vehicles (UAVs) outdoors, in partially structured environments. Every issue of the whole process is discussed in order to obtain more accurate localization and mapping from UAVs flights. Firstly, the issues related to the visual features of objects in the scene, their distance to the UAV, and the related image acquisition system and their calibration are evaluated for improving the whole process. Other important, considered issues are related to the image processing techniques, such as interest point detection, the matching procedure and the scaling factor. The whole system has been tested using the COLIBRI mini UAV in partially structured environments. The results that have been obtained for localization, tested against the GPS information of the flights, show that Visual SLAM delivers reliable localization and mapping that makes it suitable for some outdoors applications when flying UAVs
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