10,318 research outputs found
Dynamic Body VSLAM with Semantic Constraints
Image based reconstruction of urban environments is a challenging problem
that deals with optimization of large number of variables, and has several
sources of errors like the presence of dynamic objects. Since most large scale
approaches make the assumption of observing static scenes, dynamic objects are
relegated to the noise modeling section of such systems. This is an approach of
convenience since the RANSAC based framework used to compute most multiview
geometric quantities for static scenes naturally confine dynamic objects to the
class of outlier measurements. However, reconstructing dynamic objects along
with the static environment helps us get a complete picture of an urban
environment. Such understanding can then be used for important robotic tasks
like path planning for autonomous navigation, obstacle tracking and avoidance,
and other areas. In this paper, we propose a system for robust SLAM that works
in both static and dynamic environments. To overcome the challenge of dynamic
objects in the scene, we propose a new model to incorporate semantic
constraints into the reconstruction algorithm. While some of these constraints
are based on multi-layered dense CRFs trained over appearance as well as motion
cues, other proposed constraints can be expressed as additional terms in the
bundle adjustment optimization process that does iterative refinement of 3D
structure and camera / object motion trajectories. We show results on the
challenging KITTI urban dataset for accuracy of motion segmentation and
reconstruction of the trajectory and shape of moving objects relative to ground
truth. We are able to show average relative error reduction by a significant
amount for moving object trajectory reconstruction relative to state-of-the-art
methods like VISO 2, as well as standard bundle adjustment algorithms
A robust and efficient video representation for action recognition
This paper introduces a state-of-the-art video representation and applies it
to efficient action recognition and detection. We first propose to improve the
popular dense trajectory features by explicit camera motion estimation. More
specifically, we extract feature point matches between frames using SURF
descriptors and dense optical flow. The matches are used to estimate a
homography with RANSAC. To improve the robustness of homography estimation, a
human detector is employed to remove outlier matches from the human body as
human motion is not constrained by the camera. Trajectories consistent with the
homography are considered as due to camera motion, and thus removed. We also
use the homography to cancel out camera motion from the optical flow. This
results in significant improvement on motion-based HOF and MBH descriptors. We
further explore the recent Fisher vector as an alternative feature encoding
approach to the standard bag-of-words histogram, and consider different ways to
include spatial layout information in these encodings. We present a large and
varied set of evaluations, considering (i) classification of short basic
actions on six datasets, (ii) localization of such actions in feature-length
movies, and (iii) large-scale recognition of complex events. We find that our
improved trajectory features significantly outperform previous dense
trajectories, and that Fisher vectors are superior to bag-of-words encodings
for video recognition tasks. In all three tasks, we show substantial
improvements over the state-of-the-art results
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