Convolutional neural network architecture for geometric matching

We address the problem of determining correspondences between two images in agreement with a geometric model such as an affine or thin-plate spline transformation, and estimating its parameters. The contributions of this work are three-fold. First, we propose a convolutional neural network architecture for geometric matching. The architecture is based on three main components that mimic the standard steps of feature extraction, matching and simultaneous inlier detection and model parameter estimation, while being trainable end-to-end. Second, we demonstrate that the network parameters can be trained from synthetically generated imagery without the need for manual annotation and that our matching layer significantly increases generalization capabilities to never seen before images. Finally, we show that the same model can perform both instance-level and category-level matching giving state-of-the-art results on the challenging Proposal Flow dataset.Comment: In 2017 IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2017

DC-image for real time compressed video matching

This chapter presents a suggested framework for video matching based on local features extracted from the DC-image of MPEG compressed videos, without full decompression. In addition, the relevant arguments and supporting evidences are discussed. Several local feature detectors will be examined to select the best for matching using the DC-image. Two experiments are carried to support the above. The first is comparing between the DC-image and I-frame, in terms of matching performance and computation complexity. The second experiment compares between using local features and global features regarding compressed video matching with respect to the DC-image. The results confirmed that the use of DC-image, despite its highly reduced size, it is promising as it produces higher matching precision, compared to the full I-frame. Also, SIFT, as a local feature, outperforms most of the standard global features. On the other hand, its computation complexity is relatively higher, but it is still within the real-time margin which leaves a space for further optimizations that can be done to improve this computation complexity

Original Loop-closure Detection Algorithm for Monocular vSLAM

Vision-based simultaneous localization and mapping (vSLAM) is a well-established problem in mobile robotics and monocular vSLAM is one of the most challenging variations of that problem nowadays. In this work we study one of the core post-processing optimization mechanisms in vSLAM, e.g. loop-closure detection. We analyze the existing methods and propose original algorithm for loop-closure detection, which is suitable for dense, semi-dense and feature-based vSLAM methods. We evaluate the algorithm experimentally and show that it contribute to more accurate mapping while speeding up the monocular vSLAM pipeline to the extent the latter can be used in real-time for controlling small multi-rotor vehicle (drone)