131 research outputs found
Towards Accurate Camera Geopositioning by Image Matching
In this work, we present a camera geopositioning system based on matching a
query image against a database with panoramic images. For matching, our system
uses memory vectors aggregated from global image descriptors based on
convolutional features to facilitate fast searching in the database. To speed
up searching, a clustering algorithm is used to balance geographical
positioning and computation time. We refine the obtained position from the
query image using a new outlier removal algorithm. The matching of the query
image is obtained with a recall@5 larger than 90% for panorama-to-panorama
matching. We cluster available panoramas from geographically adjacent locations
into a single compact representation and observe computational gains of
approximately 50% at the cost of only a small (approximately 3%) recall loss.
Finally, we present a coordinate estimation algorithm that reduces the median
geopositioning error by up to 20%
Memory vectors for similarity search in high-dimensional spaces
We study an indexing architecture to store and search in a database of
high-dimensional vectors from the perspective of statistical signal processing
and decision theory. This architecture is composed of several memory units,
each of which summarizes a fraction of the database by a single representative
vector. The potential similarity of the query to one of the vectors stored in
the memory unit is gauged by a simple correlation with the memory unit's
representative vector. This representative optimizes the test of the following
hypothesis: the query is independent from any vector in the memory unit vs. the
query is a simple perturbation of one of the stored vectors.
Compared to exhaustive search, our approach finds the most similar database
vectors significantly faster without a noticeable reduction in search quality.
Interestingly, the reduction of complexity is provably better in
high-dimensional spaces. We empirically demonstrate its practical interest in a
large-scale image search scenario with off-the-shelf state-of-the-art
descriptors.Comment: Accepted to IEEE Transactions on Big Dat
Improving Image Recognition by Retrieving from Web-Scale Image-Text Data
Retrieval augmented models are becoming increasingly popular for computer
vision tasks after their recent success in NLP problems. The goal is to enhance
the recognition capabilities of the model by retrieving similar examples for
the visual input from an external memory set. In this work, we introduce an
attention-based memory module, which learns the importance of each retrieved
example from the memory. Compared to existing approaches, our method removes
the influence of the irrelevant retrieved examples, and retains those that are
beneficial to the input query. We also thoroughly study various ways of
constructing the memory dataset. Our experiments show the benefit of using a
massive-scale memory dataset of 1B image-text pairs, and demonstrate the
performance of different memory representations. We evaluate our method in
three different classification tasks, namely long-tailed recognition, learning
with noisy labels, and fine-grained classification, and show that it achieves
state-of-the-art accuracies in ImageNet-LT, Places-LT and Webvision datasets.Comment: Accepted to CVPR 202
Controlling Tensegrity Robots Through Evolution
Tensegrity structures (built from interconnected rods and cables) have the potential to offer a revolutionary new robotic design that is light-weight, energy-efficient, robust to failures, capable of unique modes of locomotion, impact tolerant, and compliant (reducing damage between the robot and its environment). Unfortunately robots built from tensegrity structures are difficult to control with traditional methods due to their oscillatory nature, nonlinear coupling between components and overall complexity. Fortunately this formidable control challenge can be overcome through the use of evolutionary algorithms. In this paper we show that evolutionary algorithms can be used to efficiently control a ball-shaped tensegrity robot. Experimental results performed with a variety of evolutionary algorithms in a detailed soft-body physics simulator show that a centralized evolutionary algorithm performs 400 percent better than a hand-coded solution, while the multi-agent evolution performs 800 percent better. In addition, evolution is able to discover diverse control solutions (both crawling and rolling) that are robust against structural failures and can be adapted to a wide range of energy and actuation constraints. These successful controls will form the basis for building high-performance tensegrity robots in the near future
- …