Layered Interpretation of Street View Images

We propose a layered street view model to encode both depth and semantic information on street view images for autonomous driving. Recently, stixels, stix-mantics, and tiered scene labeling methods have been proposed to model street view images. We propose a 4-layer street view model, a compact representation over the recently proposed stix-mantics model. Our layers encode semantic classes like ground, pedestrians, vehicles, buildings, and sky in addition to the depths. The only input to our algorithm is a pair of stereo images. We use a deep neural network to extract the appearance features for semantic classes. We use a simple and an efficient inference algorithm to jointly estimate both semantic classes and layered depth values. Our method outperforms other competing approaches in Daimler urban scene segmentation dataset. Our algorithm is massively parallelizable, allowing a GPU implementation with a processing speed about 9 fps.Comment: The paper will be presented in the 2015 Robotics: Science and Systems Conference (RSS

DeepNav: Learning to Navigate Large Cities

We present DeepNav, a Convolutional Neural Network (CNN) based algorithm for navigating large cities using locally visible street-view images. The DeepNav agent learns to reach its destination quickly by making the correct navigation decisions at intersections. We collect a large-scale dataset of street-view images organized in a graph where nodes are connected by roads. This dataset contains 10 city graphs and more than 1 million street-view images. We propose 3 supervised learning approaches for the navigation task and show how A* search in the city graph can be used to generate supervision for the learning. Our annotation process is fully automated using publicly available mapping services and requires no human input. We evaluate the proposed DeepNav models on 4 held-out cities for navigating to 5 different types of destinations. Our algorithms outperform previous work that uses hand-crafted features and Support Vector Regression (SVR)[19].Comment: CVPR 2017 camera ready versio

Beyond Geo-localization: Fine-grained Orientation of Street-view Images by Cross-view Matching with Satellite Imagery

Street-view imagery provides us with novel experiences to explore different places remotely. Carefully calibrated street-view images (e.g. Google Street View) can be used for different downstream tasks, e.g. navigation, map features extraction. As personal high-quality cameras have become much more affordable and portable, an enormous amount of crowdsourced street-view images are uploaded to the internet, but commonly with missing or noisy sensor information. To prepare this hidden treasure for "ready-to-use" status, determining missing location information and camera orientation angles are two equally important tasks. Recent methods have achieved high performance on geo-localization of street-view images by cross-view matching with a pool of geo-referenced satellite imagery. However, most of the existing works focus more on geo-localization than estimating the image orientation. In this work, we re-state the importance of finding fine-grained orientation for street-view images, formally define the problem and provide a set of evaluation metrics to assess the quality of the orientation estimation. We propose two methods to improve the granularity of the orientation estimation, achieving 82.4% and 72.3% accuracy for images with estimated angle errors below 2 degrees for CVUSA and CVACT datasets, corresponding to 34.9% and 28.2% absolute improvement compared to previous works. Integrating fine-grained orientation estimation in training also improves the performance on geo-localization, giving top 1 recall 95.5%/85.5% and 86.8%/80.4% for orientation known/unknown tests on the two datasets.Comment: This paper has been accepted by ACM Multimedia 2022. The version contains additional supplementary material

Using Superpixels for Road Segmentation in Street View Images

Google Street View is a useful database that houses a large amount of information. This information, however, is unlabelled. We explore the use of superpixel methods for segmentation of images in this database, specifically road segmentation

Integrating aerial and street view images for urban land use classification

Urban land use is key to rational urban planning and management. Traditional land use classification methods rely heavily on domain experts, which is both expensive and inefficient. In this paper, deep neural network-based approaches are presented to label urban land use at pixel level using high-resolution aerial images and ground-level street view images. We use a deep neural network to extract semantic features from sparsely distributed street view images and interpolate them in the spatial domain to match the spatial resolution of the aerial images, which are then fused together through a deep neural network for classifying land use categories. Our methods are tested on a large publicly available aerial and street view images dataset of New York City, and the results show that using aerial images alone can achieve relatively high classification accuracy, the ground-level street view images contain useful information for urban land use classification, and fusing street image features with aerial images can improve classification accuracy. Moreover, we present experimental studies to show that street view images add more values when the resolutions of the aerial images are lower, and we also present case studies to illustrate how street view images provide useful auxiliary information to aerial images to boost performances

City-Wide Perceptions of Neighbourhood Quality using Street View Images

The interactions of individuals with city neighbourhoods is determined, in part, by the perceived quality of urban environments. Perceived neighbourhood quality is a core component of urban vitality, influencing social cohesion, sense of community, safety, activity and mental health of residents. Large-scale assessment of perceptions of neighbourhood quality was pioneered by the Place Pulse projects. Researchers demonstrated the efficacy of crowd-sourcing perception ratings of image pairs across 56 cities and training a model to predict perceptions from street-view images. Variation across cities may limit Place Pulse's usefulness for assessing within-city perceptions. In this paper, we set forth a protocol for city-specific dataset collection for the perception: 'On which street would you prefer to walk?'. This paper describes our methodology, based in London, including collection of images and ratings, web development, model training and mapping. Assessment of within-city perceptions of neighbourhoods can identify inequities, inform planning priorities, and identify temporal dynamics. Code available: https://emilymuller1991.github.io/urban-perceptions/

DEEP LEARNING-BASED VISUAL CRACK DETECTION USING GOOGLE STREET VIEW IMAGES

DEEP LEARNING-BASED VISUAL CRACK DETECTION USING GOOGLE STREET VIEW IMAGE