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Improved Visual Localization via Graph Smoothing [article]

Carlos Lassance, Yasir Latif, Ravi Garg, Vincent Gripon, Ian Reid
2019 arXiv   pre-print
Our method constructs a graph based on this additional information and use it for robust retrieval by smoothing the feature representation of reference and/or query images.  ...  We show that the proposed method is able to significantly improve the localization accuracy on two large scale datasets over the baselines.  ...  VBL can be used to improve accuracy of vehicle tracking as well as for accurate visual maps creation via loop closure.  ... 
arXiv:1911.02961v1 fatcat:lk4azoe6afbafexoidnfdgqmqi

Improved Visual Localization via Graph Filtering

Carlos Lassance, Yasir Latif, Ravi Garg, Vincent Gripon, Ian Reid
2021 Journal of Imaging  
More precisely, our method consists in constructing a graph based on this additional information that is later used to improve reliability of the retrieval process by filtering the feature representations  ...  We show that the proposed method is able to significantly improve the localization accuracy on two large scale datasets, as well as the mean average precision in classical image retrieval scenarios.  ...  Data Availability Statement: Restrictions apply to the availability of the data forthe Sidney and Adelaide datasets as the data was obtained from Mapilliary via their API https://www.mapillary. com/developer  ... 
doi:10.3390/jimaging7020020 pmid:34460619 pmcid:PMC8321269 fatcat:dshbadopk5flnh7vqiakdo6x7i

Visually Guided Mesh Smoothing for Medical Applications [article]

Tobias Moench, Christoph Kubisch, Kai Lawonn, Ruediger Westermann, Bernhard Preim
2012 Eurographics Workshop on Visual Computing for Biomedicine  
In this paper, we present an approach to improve the handling of mesh smoothing filters.  ...  Based on a GPU mesh smoothing implementation, model quality is evaluated in real-time and provided to the user as quality graphs to support the mental optimization of input parameters.  ...  V = 1 3 m ∑ i=0 v i • ni A i (3) Model Quality Graphs To further improve the handling of mesh smoothing filters, we introduce model quality graphs.  ... 
doi:10.2312/vcbm/vcbm12/091-098 fatcat:u242rlr3wnd5bh5xe6sq72vrr4

Multimodal Style Transfer via Graph Cuts [article]

Yulun Zhang, Chen Fang, Yilin Wang, Zhaowen Wang, Zhe Lin, Yun Fu, Jimei Yang
2020 arXiv   pre-print
Specifically, the style image features are clustered into sub-style components, which are matched with local content features under a graph cut formulation.  ...  Alternative approaches have represented styles by decomposing them into local pixel or neural patches.  ...  We approximate its global minimum via efficient graph cuts algorithms.  ... 
arXiv:1904.04443v6 fatcat:f7eoi3aj7vgobm2dslbzsy5bze

Multi-UAV Coverage Path Planning for the Inspection of Large and Complex Structures [article]

Wei Jing, Di Deng, Yan Wu, Kenji Shimada
2020 arXiv   pre-print
improvement heuristics.  ...  Problem (VRP), a Set-Covering Vehicle Routing Problem (SC-VRP) is formulated and subsequently solved by a modified Biased Random Key Genetic Algorithm (BRKGA) with novel, efficient encoding strategies and local  ...  the performance, we also added local improvement heuristic to the BRKGA.  ... 
arXiv:2007.13065v1 fatcat:xkayotvat5ab5oecibwmtqtyvq

Cluster Sensing Superpixel and Grouping

Rui Li, Lu Fang
2016 2016 IEEE Conference on Computer Vision and Pattern Recognition Workshops (CVPRW)  
The visual results of adopting the bipartite graph grouping for segmentation.  ...  LSC[10] maps tradition- Fig. 1(b) shows that smooth regions generally have com- al pixel values to a specific feature space via kernel func- paratively high density values with smooth distribution  ... 
doi:10.1109/cvprw.2016.170 dblp:conf/cvpr/LiF16 fatcat:e3cgltayzjgfbfqulc4fcscjmq

Object-Based Reliable Visual Navigation for Mobile Robot

Fan Wang, Chaofan Zhang, Wen Zhang, Cuiyun Fang, Yingwei Xia, Yong Liu, Hao Dong
2022 Sensors  
To improve the reliability of visual navigation, in this paper, we propose a novel object-level topological visual navigation method.  ...  Firstly, a lightweight object-level topological semantic map is constructed to release the dependence on the precise metric map, where the semantic associations between objects are stored via graph memory  ...  Based on the proposed method, we can obtain smooth and dynamically feasible trajectories, and the reliability of the proposed visual navigation method is further improved.  ... 
doi:10.3390/s22062387 pmid:35336558 pmcid:PMC8949785 fatcat:qszzhukvwbeublsqqexi6trnda

Spatially informed voxelwise modeling for naturalistic fMRI experiments

Emin Çelik, Salman Ul Hassan Dar, Özgür Yılmaz, Ümit Keleş, Tolga Çukur
2019 NeuroImage  
Compared to VM, SPIN-VM yields higher prediction accuracies and better capture locally congruent information representations across cortex.  ...  These results suggest that SPIN-VM offers improved performance in predicting single-voxel responses and recovering coherent information representations.  ...  Yellow indicates higher local coherence compared to red. As expected, spatially smoothing the BOLD responses before implementing VM improves local coherence.  ... 
doi:10.1016/j.neuroimage.2018.11.044 fatcat:ujwtq3srwbbljk7ygod2e6zhu4

Using Text to Teach Image Retrieval [article]

Haoyu Dong, Ze Wang, Qiang Qiu, Guillermo Sapiro
2020 arXiv   pre-print
Building on the concept of image manifold, we first propose to represent the feature space of images, learned via neural networks, as a graph.  ...  Neighborhoods in the feature space are now defined by the geodesic distance between images, represented as graph vertices or manifold samples.  ...  Smooth Path Counting. In this task, we count the number of smooth paths in the graph G.  ... 
arXiv:2011.09928v1 fatcat:laivg53j7nhnxmknlnmcq25swm

6-DOF Multi-session Visual SLAM using Anchor Nodes

John McDonald, Michael Kaess, Cesar Dario Cadena Lerma, José Neira, John J. Leonard
2011 European Conference on Mobile Robots  
Our work employs incremental Smoothing and Mapping (iSAM) as the underlying SLAM state estimator and uses an improved appearance-based method for detecting loop closures within single mapping sessions  ...  To stitch together pose graph maps from multiple visual mapping sessions, we employ spatial separator variables, called anchor nodes, to link together multiple relative pose graphs.  ...  We apply smoothing in combination with a homogeneous point parameterisation to the local window to improve the pose estimates obtained from visual odometry.  ... 
dblp:conf/ecmr/McDonaldKLNL11 fatcat:m2r5j4zxzrhvnbl3m67tiftw7a

Zero Shot Learning via Multi-scale Manifold Regularization

Shay Deutsch, Soheil Kolouri, Kyungnam Kim, Yuri Owechko, Stefano Soatto
2017 2017 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)  
Our inference approach includes a smoothness criterion for a function mapping nodes on a graph (visual representation) onto a linear space (semantic representation), which we optimize using multi-scale  ...  We address zero-shot learning using a new manifold alignment framework based on a localized multi-scale transform on graphs.  ...  Thus our approach is essentially solving a diffusion process on the graph using graph signals which are SGW coefficients themselves that are localized both in the visual and semantic spaces.  ... 
doi:10.1109/cvpr.2017.562 dblp:conf/cvpr/DeutschKKOS17 fatcat:eaedns3clzbo5egtqydgfad7xu

Graph Neural Network Based Attribute Auxiliary Structured Grouping for Person Re-Identification

Geyu Tang, Xingyu Gao, Zhenyu Chen, Huicai Zhong
2021 IEEE Access  
attribute graph via a graph neural network.  ...  As to video person re-ID, DGM [18] estimated the pseudo labels via a dynamic graph co-matching schema, where the quality of labels was improved with strategies including iterative graph structure updating  ... 
doi:10.1109/access.2021.3069915 fatcat:xlukop5sdjfjbioycioaynzp6q

LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping [article]

Tixiao Shan and Brendan Englot and Carlo Ratti and Daniela Rus
2021 arXiv   pre-print
We propose a framework for tightly-coupled lidar-visual-inertial odometry via smoothing and mapping, LVI-SAM, that achieves real-time state estimation and map-building with high accuracy and robustness  ...  The accuracy of the VIS is improved by extracting depth information for visual features using lidar measurements.  ...  LIDAR VISUAL INERTIAL ODOMETRY VIA SMOOTHING AND MAPPING A.  ... 
arXiv:2104.10831v2 fatcat:riguzuwmzzfwfouo2y2le2ekmi

Non-Local Graph-Based Prediction For Reversible Data Hiding In Images [article]

Qi Chang and Gene Cheung and Yao Zhao and Xiaolong Li and Rongrong Ni
2018 arXiv   pre-print
Specifically, for each candidate patch, we first examine eigenvalues of its structure tensor to estimate its local smoothness.  ...  If sufficiently smooth, we pose a maximum a posteriori (MAP) problem using either a quadratic Laplacian regularizer or a graph total variation (GTV) term as signal prior.  ...  Experimental results show that with better graph-based prediction, visual quality of the embedded images exceeds state-of-the-art methods. Fig. 1 . 1 Fig. 1. Left: Piecewise smooth patch.  ... 
arXiv:1802.06935v1 fatcat:bh66pb6vtnhgdmxao2fiogtwjm

Brain Transfer: Spectral Analysis of Cortical Surfaces and Functional Maps [chapter]

Herve Lombaert, Michael Arcaro, Nicholas Ayache
2015 Lecture Notes in Computer Science  
of functional data, via focused harmonics.  ...  It takes for example several hours to smooth and match a single pair of cortical surfaces.  ...  Localized functional maps, such as the visual area in the occipital lobe, can therefore be expressed with dedicated harmonics.  ... 
doi:10.1007/978-3-319-19992-4_37 fatcat:rewkmjfh6jgi3omvs5sfp2eivq
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