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Visual Localization Under Appearance Change: Filtering Approaches [article]

Anh-Dzung Doan, Yasir Latif, Tat-Jun Chin, Yu Liu, Shin-Fang Ch'ng, Thanh-Toan Do, Ian Reid
2020 arXiv   pre-print
., deep learning-based pose regression approaches) for the task on visual localization under significant appearance change.  ...  A major focus of current research on place recognition is visual localization for autonomous driving.  ...  Our contribution: This work addresses the problem of metric visual localization (i.e., we recover the 6 DoF pose of the camera) under appearance changes, in the context of autonomous vehicles.  ... 
arXiv:1811.08063v4 fatcat:6lusukdk7zgw5bed3ikw4w57cy

How to Train a CAT: Learning Canonical Appearance Transformations for Direct Visual Localization Under Illumination Change

Lee Clement, Jonathan Kelly
2018 IEEE Robotics and Automation Letters  
improvements in visual odometry (VO) accuracy through time-varying illumination conditions, as well as improved metric relocalization performance under illumination change, where conventional methods  ...  Direct visual localization has recently enjoyed a resurgence in popularity with the increasing availability of cheap mobile computing power.  ...  imagery in a direct visual localization pipeline to estimate the 6-DOF motion of the camera under illumination change.  ... 
doi:10.1109/lra.2018.2799741 dblp:journals/ral/ClementK18 fatcat:oiikdehmazcc7gpch6gxyqfb3i

Evaluating the Robustness of Global Appearance Descriptors in a Visual Localization Task, under Changing Lighting Conditions

Vicente Román, Luis Payá, Óscar Reinoso
2018 Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics  
In the assignment a map is already built and the goal is to evaluate the descriptors' robustness to perform localization tasks when the environment visual appearance changes substantially.  ...  In this way, robots capture visual information from the environment and obtain, usually by means of a transformation, a global appearance description for each whole image.  ...  ACKNOWLEDGEMENTS This work has been supported by the Spanish Government through the project DPI 2016-78361-R (AEI/FEDER, UE): "Creación de mapas mediante métodos de apariencia visual para la navegación  ... 
doi:10.5220/0006837802680275 dblp:conf/icinco/RomanPR18 fatcat:66m5kwhimndlfpmy5ehfh4us7u


Chang-hua Wu, Gady Agam, Peter Stanchev
2007 2007 4th IEEE International Symposium on Biomedical Imaging: From Nano to Macro  
We propose a novel vessel enhancement filter for retinal images. The filter can be used as a preprocessing step in applications such as vessel segmentation/visualization, and pathology detection.  ...  The eigenvectors of the Hessian matrix provide the orientation of vessels and so only one matched filter is necessary at each pixel in a given scale.  ...  Kanski, Clinical Ophthalmology: A systematic approach, Butterworth-Heinemann, London, 1989. [2] A. Hoover, V. Kouznetsova, and M.  ... 
doi:10.1109/isbi.2007.356924 dblp:conf/isbi/WuAS07 fatcat:eqdxzcjp2vdkjdxuzsy3zvxdmm

A Three-stage Filtering Approach for Face Recognition

2021 International Journal of Engineering  
In this paper, a face recognition system is proposed to iron out the above problems with a new framework based on a hashing function in a three-stage filtering approach.  ...  We employ a voting system to select candidates via disregarding a large number of dissimilar identities considering their local features.  ...  These methods have achieved a high recognition rate under unconstrained conditions.  ... 
doi:10.5829/ije.2021.34.08b.06 fatcat:53tug56ubna5tkxz5fw3bquof4

A particle filtering approach to salient video object localization

Charles Gray, Stuart James, John Collomosse, Paul Asente
2014 2014 IEEE International Conference on Image Processing (ICIP)  
These distributions are temporally denoised using a particle filtering approach, and clustered to estimate the position and motion parameters of salient moving objects in the clip.  ...  We demonstrate localization of salient object/s in a variety of clips exhibiting moving and cluttered backgrounds.  ...  [13] use RANSAC to recursively filter correspondences between sparsely detected SIFT keypoints, filtered to remove non-salient points under a visual salience measure, to identify coherently moving objects  ... 
doi:10.1109/icip.2014.7025038 dblp:conf/icip/GrayJCA14 fatcat:sfwphkpx3zhdzm5rud34y7me4y

Person Tracking In Enhanced Cognitive Care: A Particle Filtering Approach

Fotios Talantzis
2010 Zenodo  
Using a localization function convert the set of X (t) m into a localization measurement i.e. a TDE measurement. 6.  ...  In this context, we first propose an ASLT system that uses a state-space approach based on particle filters (PF) to recursively estimate the probability density of the active speaker location.  ... 
doi:10.5281/zenodo.42253 fatcat:p4ngejvc7beqzav4rnikiombse

A cascadic geometric filtering approach to subdivision

U. Diewald, S. Morigi, M. Rumpf
2002 Computer Aided Geometric Design  
A new approach to subdivision based on the evolution of surfaces under curvature motion is presented.  ...  Such an evolution can be understood as a natural geometric filter process where time corresponds to the filter width.  ...  Besides the additional smoothing of the filter width function the only change concerning the implementation is in the stiffness matrix, which now contains the local weight A k−1 instead of the global weight  ... 
doi:10.1016/s0167-8396(02)00150-4 fatcat:uknna2kltnagxaxs6nmi75hjrq

A Spatial Filtering Approach to Biological Patterning [article]

Melinda Liu Perkins, Murat Arcak
2019 arXiv   pre-print
We propose a discrete filtering approach to predict how networks of cells modulate spatially varying input signals to produce more complicated or precise output signals.  ...  filter modifies the frequency components of a discrete signal.  ...  We propose a discrete filtering approach to analyze how networks of interacting cells respond to prepatterns.  ... 
arXiv:1902.04614v1 fatcat:lyyqpn5qgzcvdjx6wwndzxeuqy

A Robust Nonlinear Filtering Approach to Inverse Halftoning

Mei-Yin Shen, C.-C.Jay Kuo
2001 Journal of Visual Communication and Image Representation  
PSNR performance with only local integer operations and a small memory buffer.  ...  A new blind inverse halftoning algorithm based on a nonlinear filtering technique of low computational complexity and low memory requirement is proposed in this research.  ...  With this approach, useful edge information is obtained by applying a bandpass filter to a lowpass-filtered halftoning image. There are two ways to realize the bandpass filter.  ... 
doi:10.1006/jvci.2000.0464 fatcat:ise4acxfpfewbclpkpm44r32qq

DAISY Filter Flow: A Generalized Discrete Approach to Dense Correspondences

Hongsheng Yang, Wen-Yan Lin, Jiangbo Lu
2014 2014 IEEE Conference on Computer Vision and Pattern Recognition  
This paper presents a novel approach called DAISY filter flow (DFF) to address this challenging task.  ...  Inspired by the recent PatchMatch Filter technique, we leverage and extend a few established methods: 1) DAISY descriptors, 2) filter-based efficient flow inference, and 3) the Patch-Match fast search.  ...  Filter-Based Inference for Flow Estimation Inspired by the recent filter-based methods as a fast alternative to solve multi-labeling problems in computer vision [18, 22] , we take a filtering-based approach  ... 
doi:10.1109/cvpr.2014.435 dblp:conf/cvpr/YangLL14a fatcat:m2whgc7ajjaezmlcxpyw73kaci

A Composite Wavelets and Morphology Approach for ECG Noise Filtering [chapter]

Vikrant Bhateja, Shabana Urooj, Rini Mehrotra, Rishendra Verma, Aimé Lay-Ekuakille, Vijay Deepak Verma
2013 Lecture Notes in Computer Science  
Hence, to facilitate proper analysis of ECG; this paper presents a combination of wavelets analysis and morphological filtering as an approach for noise removal in ECG signals.  ...  The morphological filter processes only the corrupted bands without affecting the signal parameters.  ...  Morphological filtering is a non-linear transformation technique primarily used for local modification of geometrical features of a signal.  ... 
doi:10.1007/978-3-642-45062-4_49 fatcat:qcfo4gbhubdp7cmruhbl2ahizm

A graph matching technique for an appearance-based, visual SLAM-approach using Rao-Blackwellized Particle Filters

A. Koenig, J. Kessler, H.-M. Gross
2008 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Both methods enable the combination of an appearance-based, visual localization concept with a Rao-Blackwellized Particle Filter (RBPF) as state estimator to a realworld suitable, online SLAM approach.  ...  In continuation of our previous work on visual, appearance-based localization in manually built maps [1], [2], in this paper we present a novel appearance-based, visual SLAM approach.  ...  The essential contribution of the approach presented here is, that we combined the appearance-based, visual localization concept with a Rao-Blackwellized Particle Filter as state estimator to a real-world  ... 
doi:10.1109/iros.2008.4650878 dblp:conf/iros/KoenigKG08 fatcat:pjdh7h4ra5dexdbxkmrkcuawku

Motion blur filtering: A statistical approach for extracting confinement forces and diffusivity from a single blurred trajectory

Christopher P. Calderon
2016 Physical review. E  
Experimental artifacts such as localization uncertainty and motion blur also obscure the data.  ...  We introduce a new maximum likelihood estimation (MLE) technique that decouples the above noise sources and systematically treats temporal correlation via a likelihood function (permitting more reliable  ...  The bottom panel of Fig. 3 displays a time varying CRB type localization estimate (an under-estimate of the truth).  ... 
doi:10.1103/physreve.93.053303 pmid:27301001 fatcat:n3pytyyj6zgenemarbhgkilwae

A Novel Approach for Detail-Enhanced Exposure Fusion Using Guided Filter

Harbinder Singh, Vinay Kumar, Sunil Bhooshan
2014 The Scientific World Journal  
In this paper we propose a novel detail-enhancing exposure fusion approach using nonlinear translation-variant filter (NTF).  ...  With the captured Standard Dynamic Range (SDR) images under different exposure settings, first the fine details are extracted based on guided filter.  ...  Local light adaption property of human visual system (HVS) is adopted in the local operators to correspond to the visual impression that an observer had when watching the original scene, while the global  ... 
doi:10.1155/2014/659217 pmid:24683353 pmcid:PMC3934388 fatcat:kbconeckpfbc5ec47tur3qxfem
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