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

Joint Material and Illumination Estimation from Photo Sets in the Wild

Faithful manipulation of shape, material, and illumination in 2D Internet images would greatly benefit from a reliable factorization of appearance into material (i.e., diffuse and specular) and illumination (i.e., environment maps). On the one hand, current methods that produce very high fidelity results, typically require controlled settings, expensive devices, or significant manual effort. To the other hand, methods that are automatic and work on 'in the wild' Internet images, often extract only low-frequency lighting or diffuse materials. In this work, we propose to make use of a set of photographs in order to jointly estimate the non-diffuse materials and sharp lighting in an uncontrolled setting. Our key observation is that seeing multiple instances of the same material under different illumination (i.e., environment), and different materials under the same illumination provide valuable constraints that can be exploited to yield a high-quality solution (i.e., specular materials and environment illumination) for all the observed materials and environments. Similar constraints also arise when observing multiple materials in a single environment, or a single material across multiple environments. The core of this approach is an optimization procedure that uses two neural networks that are trained on synthetic images to predict good gradients in parametric space given observation of reflected light. We evaluate our method on a range of synthetic and real examples to generate high-quality estimates, qualitatively compare our results against state-of-the-art alternatives via a user study, and demonstrate photo-consistent image manipulation that is otherwise very challenging to achieve

Spatially Aware Dictionary Learning and Coding for Fossil Pollen Identification

We propose a robust approach for performing automatic species-level recognition of fossil pollen grains in microscopy images that exploits both global shape and local texture characteristics in a patch-based matching methodology. We introduce a novel criteria for selecting meaningful and discriminative exemplar patches. We optimize this function during training using a greedy submodular function optimization framework that gives a near-optimal solution with bounded approximation error. We use these selected exemplars as a dictionary basis and propose a spatially-aware sparse coding method to match testing images for identification while maintaining global shape correspondence. To accelerate the coding process for fast matching, we introduce a relaxed form that uses spatially-aware soft-thresholding during coding. Finally, we carry out an experimental study that demonstrates the effectiveness and efficiency of our exemplar selection and classification mechanisms, achieving $86.13\%$ accuracy on a difficult fine-grained species classification task distinguishing three types of fossil spruce pollen.Comment: CVMI 201