Local descriptors for visual SLAM

We present a comparison of several local image descriptors in the context of visual Simultaneous Localization and Mapping (SLAM). In visual SLAM a set of points in the environment are extracted from images and used as landmarks. The points are represented by local descriptors used to resolve the association between landmarks. In this paper, we study the class separability of several descriptors under changes in viewpoint and scale. Several experiments were carried out using sequences of images in 2D and 3D scenes

Local Descriptors Optimized for Average Precision

Extraction of local feature descriptors is a vital stage in the solution pipelines for numerous computer vision tasks. Learning-based approaches improve performance in certain tasks, but still cannot replace handcrafted features in general. In this paper, we improve the learning of local feature descriptors by optimizing the performance of descriptor matching, which is a common stage that follows descriptor extraction in local feature based pipelines, and can be formulated as nearest neighbor retrieval. Specifically, we directly optimize a ranking-based retrieval performance metric, Average Precision, using deep neural networks. This general-purpose solution can also be viewed as a listwise learning to rank approach, which is advantageous compared to recent local ranking approaches. On standard benchmarks, descriptors learned with our formulation achieve state-of-the-art results in patch verification, patch retrieval, and image matching.Comment: 13 pages, 8 figures. IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 201

Learning Material-Aware Local Descriptors for 3D Shapes

Material understanding is critical for design, geometric modeling, and analysis of functional objects. We enable material-aware 3D shape analysis by employing a projective convolutional neural network architecture to learn material- aware descriptors from view-based representations of 3D points for point-wise material classification or material- aware retrieval. Unfortunately, only a small fraction of shapes in 3D repositories are labeled with physical mate- rials, posing a challenge for learning methods. To address this challenge, we crowdsource a dataset of 3080 3D shapes with part-wise material labels. We focus on furniture models which exhibit interesting structure and material variabil- ity. In addition, we also contribute a high-quality expert- labeled benchmark of 115 shapes from Herman-Miller and IKEA for evaluation. We further apply a mesh-aware con- ditional random field, which incorporates rotational and reflective symmetries, to smooth our local material predic- tions across neighboring surface patches. We demonstrate the effectiveness of our learned descriptors for automatic texturing, material-aware retrieval, and physical simulation. The dataset and code will be publicly available.Comment: 3DV 201

Orientation covariant aggregation of local descriptors with embeddings

Image search systems based on local descriptors typically achieve orientation invariance by aligning the patches on their dominant orientations. Albeit successful, this choice introduces too much invariance because it does not guarantee that the patches are rotated consistently. This paper introduces an aggregation strategy of local descriptors that achieves this covariance property by jointly encoding the angle in the aggregation stage in a continuous manner. It is combined with an efficient monomial embedding to provide a codebook-free method to aggregate local descriptors into a single vector representation. Our strategy is also compatible and employed with several popular encoding methods, in particular bag-of-words, VLAD and the Fisher vector. Our geometric-aware aggregation strategy is effective for image search, as shown by experiments performed on standard benchmarks for image and particular object retrieval, namely Holidays and Oxford buildings.Comment: European Conference on Computer Vision (2014

DeepKSPD: Learning Kernel-matrix-based SPD Representation for Fine-grained Image Recognition

Being symmetric positive-definite (SPD), covariance matrix has traditionally been used to represent a set of local descriptors in visual recognition. Recent study shows that kernel matrix can give considerably better representation by modelling the nonlinearity in the local descriptor set. Nevertheless, neither the descriptors nor the kernel matrix is deeply learned. Worse, they are considered separately, hindering the pursuit of an optimal SPD representation. This work proposes a deep network that jointly learns local descriptors, kernel-matrix-based SPD representation, and the classifier via an end-to-end training process. We derive the derivatives for the mapping from a local descriptor set to the SPD representation to carry out backpropagation. Also, we exploit the Daleckii-Krein formula in operator theory to give a concise and unified result on differentiating SPD matrix functions, including the matrix logarithm to handle the Riemannian geometry of kernel matrix. Experiments not only show the superiority of kernel-matrix-based SPD representation with deep local descriptors, but also verify the advantage of the proposed deep network in pursuing better SPD representations for fine-grained image recognition tasks