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PERCH: Perception via Search for Multi-Object Recognition and Localization [article]

Venkatraman Narayanan, Maxim Likhachev
2016 arXiv   pre-print
While these methods have been employed successfully, they can be unreliable when the feature descriptors fail to capture variations in observed data; a classic cause being occlusion.  ...  Canonical approaches to this problem include discriminative methods that find correspondences between feature descriptors computed over the model and observed data.  ...  Traditional methods for identifying and localizing objects rely on a two-step procedure: i) precompute a set of feature descriptors on the 3D models and match them to observed features, and ii) estimate  ... 
arXiv:1510.05613v2 fatcat:pvfiwcjutrdahmqgwzu2ytdthu

PERCH: Perception via search for multi-object recognition and localization

Venkatraman Narayanan, Maxim Likhachev
2016 2016 IEEE International Conference on Robotics and Automation (ICRA)  
While these methods have been employed successfully, they can be unreliable when the feature descriptors fail to capture variations in observed data; a classic cause being occlusion.  ...  Canonical approaches to this problem include discriminative methods that find correspondences between feature descriptors computed over the model and observed data.  ...  Traditional methods for identifying and localizing objects rely on a two-step procedure: i) precompute a set of feature descriptors on the 3D models and match them to observed features, and ii) estimate  ... 
doi:10.1109/icra.2016.7487711 dblp:conf/icra/NarayananL16 fatcat:itmfoa4ccfhuthbdr5xyz7hoby

A FAST AND ROBUST SCENE MATCHING METHOD FOR NAVIGATION

Sanhai Ren, Wenge Chang
2014 Progress In Electromagnetics Research M  
In the coarse matching stage, the real-time performance is achieved by a pyramid multi-resolution technique, and the robustness is improved by multi-scale circular template fusion.  ...  A coarse-to-fine matching method, which combines the area-based and feature-based matching method, is presented to meet the requirements of navigation, including the real-time performance, the sub-pixel  ...  Then, SIFT features in the real-time image and sub-reference image are extracted via an improved SIFT method.  ... 
doi:10.2528/pierm14031304 fatcat:72kmp7ui5bb4pilhsjidiqgypq

Robust Local Features and their Application in Self-Calibration and Object Recognition on Embedded Systems

Clemens Arth, Christian Leistner, Horst Bischof
2007 2007 IEEE Conference on Computer Vision and Pattern Recognition  
The first contribution of this paper is the investigation of a set of robust local feature detectors and descriptors for application on embedded systems.  ...  We briefly describe the methods involved, i.e. the DoG (Difference of Gaussian) and MSER (Maximally Stable Extremal Regions) detector as well as the PCA-SIFT descriptor, and discuss their suitability for  ...  We have evaluated both matching approaches, a k-d tree with nearest-neighbor search and the exhaustive search method.  ... 
doi:10.1109/cvpr.2007.383419 dblp:conf/cvpr/ArthLB07a fatcat:cygpjnlxbzhlrbjqiws4ps7jme

Wide area localization on mobile phones

Clemens Arth, Daniel Wagner, Manfred Klopschitz, Arnold Irschara, Dieter Schmalstieg
2009 2009 8th IEEE International Symposium on Mixed and Augmented Reality  
Starting with a coarse guess, our system only considers features that can be seen from the user's position.  ...  We present a fast and memory efficient method for localizing a mobile user's 6DOF pose from a single camera image. Our approach registers a view with respect to a sparse 3D point reconstruction.  ...  Real time performance for view registration on a desktop PC is achieved by utilizing modern graphics processing units for feature extraction and matching.  ... 
doi:10.1109/ismar.2009.5336494 dblp:conf/ismar/ArthWKIS09 fatcat:wrhrrivez5fnbc575drvrvmhk4

Entropy-Based Block Processing for Satellite Image Registration

Ikhyun Lee, Doo-Chun Seo, Tae-Sun Choi
2012 Entropy  
In this paper, we propose an algorithm based on block processing via entropy to register satellite images. The performance of the proposed method is evaluated using different real images.  ...  In such scenario, state-of-the-art image registration methods such as scale-invariant feature transform (SIFT) may not be suitable due to high processing time.  ...  These methods may provide gains in efficiency but they do not improve the speed for an exhaustive search in a 10-dimensional or higher space.  ... 
doi:10.3390/e14122397 fatcat:dmrt2xtzdjdf3pyzyku7ohf5em

Reconstructing Fukushima: A Case Study

Akihito Seki, Oliver J. Woodford, Satoshi Ito, Bjorn Stenger, Makoto Hatakeyama, Junichi Shimamura
2014 2014 2nd International Conference on 3D Vision  
We present an overview of the system developed for this project, a realtime reconstruction pipeline with robust camera pose estimation, low-latency probabilistic dense depth estimation and a novel descriptor  ...  We discuss the modifications required to standard algorithms in order to perform reliably in such a scenario.  ...  Descriptor matches are found via exhaustive search using the Euclidean distance.  ... 
doi:10.1109/3dv.2014.75 dblp:conf/3dim/SekiWISHS14 fatcat:gwde3mrlnrflxjj36ziocgyvie

ORB: An efficient alternative to SIFT or SURF

Ethan Rublee, Vincent Rabaud, Kurt Konolige, Gary Bradski
2011 2011 International Conference on Computer Vision  
Related Work Keypoints FAST and its variants [23, 24] are the method of choice for finding keypoints in real-time systems that match visual features, for example, Parallel Tracking and Mapping [13] .  ...  Feature matching is at the base of many computer vision problems, such as object recognition or structure from motion. Current methods rely on costly descriptors for detection and matching.  ...  Embedded real-time feature tracking Tracking on the phone involves matching the live frames to a previously captured keyframe.  ... 
doi:10.1109/iccv.2011.6126544 dblp:conf/iccv/RubleeRKB11 fatcat:2lox3kktlfa6jeqilung7gx5yq

Learning Sequential Descriptors for Sequence-based Visual Place Recognition [article]

Riccardo Mereu, Gabriele Trivigno, Gabriele Berton, Carlo Masone, Barbara Caputo
2022 arXiv   pre-print
In comparison to existing sequential descriptors methods, we further investigate the viability of Transformers instead of CNN backbones, and we propose a new ad-hoc sequence-level aggregator called SeqVLAD  ...  This task requires robust, scalable, and efficient techniques for real applications.  ...  Also, computational resources were provided by HPC@POLITO, a project of Academic Computing within the Department of Control and Computer Engineering at the Politecnico di Torino (http://www.hpc.polito.it  ... 
arXiv:2207.03868v1 fatcat:2vpr6lyfrva25o5n3fbrkpm45m

ASLFeat: Learning Local Features of Accurate Shape and Localization

Zixin Luo, Lei Zhou, Xuyang Bai, Hongkai Chen, Jiahui Zhang, Yao Yao, Shiwei Li, Tian Fang, Long Quan
2020 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)  
This work focuses on mitigating two limitations in the joint learning of local feature detectors and descriptors.  ...  Finally, we use a peakiness measurement to relate feature responses and derive more indicative detection scores.  ...  synthetic data and multi-round adaptations on real data.  ... 
doi:10.1109/cvpr42600.2020.00662 dblp:conf/cvpr/LuoZBCZ0LFQ20 fatcat:odseexngqzdipexbxw7kdhepee

Discovering Multi-relational Latent Attributes by Visual Similarity Networks [chapter]

Fatemeh Shokrollahi Yancheshmeh, Joni-Kristian Kämäräinen, Ke Chen
2015 Lecture Notes in Computer Science  
However, the latent attribute structure in real life is multi-relational, e.g. two different sport cars in different poses vs. a sport car and a family car in the same posewhat attribute can dominate similarity  ...  Instead of clustering, a network (graph) containing multiple connections is a natural way to represent such multi-relational attributes between images.  ...  Due to enormous number of potential matches for exhaustive search, we repeat a random sampling procedure that selects two (minimum for similarity transform) features from a, their best candidates within  ... 
doi:10.1007/978-3-319-16634-6_1 fatcat:dlenin3kbfbbtl5mslrdvkv3fa

A Coarse-to-Fine Geometric Scale-Invariant Feature Transform for Large Size High Resolution Satellite Image Registration

Xueli Chang, Siliang Du, Yingying Li, Shenghui Fang
2018 Sensors  
In fine processing, BRIEF feature is used to match more CPs. BRISK is a fast binary matching method as it can be 13 times faster than SIFT.  ...  The performance of SIFTGPU is nearly real-time for small and medium images.  ...  The current feature matching method searched all of the key points on the image.  ... 
doi:10.3390/s18051360 pmid:29702589 pmcid:PMC5982329 fatcat:3pzt74z7kzc5degwntnv3gwrb4

The Re-identification Challenge [chapter]

Shaogang Gong, Marco Cristani, Chen Change Loy, Timothy M. Hospedales
2014 Person Re-Identification  
However, it poses a significant challenge to computer vision systems.  ...  For making sense of the vast quantity of visual data generated by the rapid expansion of large scale distributed multi-camera systems, automated person re-identification is essential.  ...  Their study show that the method allows correct re-identification converges 3 times faster than ordinary exhaustive search.  ... 
doi:10.1007/978-1-4471-6296-4_1 dblp:series/acvpr/GongCLH14 fatcat:l7jbhs4g2jgcxdjceywbszb374

HITNet: Hierarchical Iterative Tile Refinement Network for Real-time Stereo Matching [article]

Vladimir Tankovich, Christian Häne, Yinda Zhang, Adarsh Kowdle, Sean Fanello, Sofien Bouaziz
2021 arXiv   pre-print
This paper presents HITNet, a novel neural network architecture for real-time stereo matching.  ...  Contrary to many recent neural network approaches that operate on a full cost volume and rely on 3D convolutions, our approach does not explicitly build a volume and instead relies on a fast multi-resolution  ...  The method uses a low resolution cost volume with multiple refinement stages via image warps and local matching cost computations.  ... 
arXiv:2007.12140v3 fatcat:nj63vbvjdjgbvc5oh6pluq7v5u

Benchmarking 6DOF Outdoor Visual Localization in Changing Conditions [article]

Torsten Sattler and Will Maddern and Carl Toft and Akihiko Torii and Lars Hammarstrand and Erik Stenborg and Daniel Safari and Masatoshi Okutomi and Marc Pollefeys and Josef Sivic and Fredrik Kahl and Tomas Pajdla
2018 arXiv   pre-print
Visual localization enables autonomous vehicles to navigate in their surroundings and augmented reality applications to link virtual to real worlds.  ...  different conditions, showing that long-term localization is far from solved, and propose promising avenues for future work, including sequence-based localization approaches and the need for better local features  ...  between 2D features in a query image and 3D points in a SfM point cloud via descriptor matching.  ... 
arXiv:1707.09092v3 fatcat:sbhjo526mnevdmf2lsfoq5jelq
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