2,265 research outputs found
Place recognition: An Overview of Vision Perspective
Place recognition is one of the most fundamental topics in computer vision
and robotics communities, where the task is to accurately and efficiently
recognize the location of a given query image. Despite years of wisdom
accumulated in this field, place recognition still remains an open problem due
to the various ways in which the appearance of real-world places may differ.
This paper presents an overview of the place recognition literature. Since
condition invariant and viewpoint invariant features are essential factors to
long-term robust visual place recognition system, We start with traditional
image description methodology developed in the past, which exploit techniques
from image retrieval field. Recently, the rapid advances of related fields such
as object detection and image classification have inspired a new technique to
improve visual place recognition system, i.e., convolutional neural networks
(CNNs). Thus we then introduce recent progress of visual place recognition
system based on CNNs to automatically learn better image representations for
places. Eventually, we close with discussions and future work of place
recognition.Comment: Applied Sciences (2018
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
GraphMatch: Efficient Large-Scale Graph Construction for Structure from Motion
We present GraphMatch, an approximate yet efficient method for building the
matching graph for large-scale structure-from-motion (SfM) pipelines. Unlike
modern SfM pipelines that use vocabulary (Voc.) trees to quickly build the
matching graph and avoid a costly brute-force search of matching image pairs,
GraphMatch does not require an expensive offline pre-processing phase to
construct a Voc. tree. Instead, GraphMatch leverages two priors that can
predict which image pairs are likely to match, thereby making the matching
process for SfM much more efficient. The first is a score computed from the
distance between the Fisher vectors of any two images. The second prior is
based on the graph distance between vertices in the underlying matching graph.
GraphMatch combines these two priors into an iterative "sample-and-propagate"
scheme similar to the PatchMatch algorithm. Its sampling stage uses Fisher
similarity priors to guide the search for matching image pairs, while its
propagation stage explores neighbors of matched pairs to find new ones with a
high image similarity score. Our experiments show that GraphMatch finds the
most image pairs as compared to competing, approximate methods while at the
same time being the most efficient.Comment: Published at IEEE 3DV 201
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