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Author Arnau Ramisa; Shrihari Vasudevan; David Aldavert; Ricardo Toledo; Ramon Lopez de Mantaras
Title Evaluation of the SIFT Object Recognition Method in Mobile Robots: Frontiers in Artificial Intelligence and Applications Type Conference Article
Year 2009 Publication 12th International Conference of the Catalan Association for Artificial Intelligence Abbreviated Journal
Volume 202 Issue Pages 9-18
Keywords
Abstract (up) General object recognition in mobile robots is of primary importance in order to enhance the representation of the environment that robots will use for their reasoning processes. Therefore, we contribute reduce this gap by evaluating the SIFT Object Recognition method in a challenging dataset, focusing on issues relevant to mobile robotics. Resistance of the method to the robotics working conditions was found, but it was limited mainly to well-textured objects.
Address Cardona, Spain
Corporate Author Thesis
Publisher Place of Publication Editor
Language Summary Language Original Title
Series Editor Series Title Abbreviated Series Title
Series Volume Series Issue Edition
ISSN 0922-6389 ISBN 978-1-60750-061-2 Medium
Area Expedition Conference CCIA
Notes ADAS Approved no
Call Number Admin @ si @ RVA2009 Serial 1248
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Author Fahad Shahbaz Khan; Joost Van de Weijer; Maria Vanrell
Title Top-Down Color Attention for Object Recognition Type Conference Article
Year 2009 Publication 12th International Conference on Computer Vision Abbreviated Journal
Volume Issue Pages 979 - 986
Keywords
Abstract (up) Generally the bag-of-words based image representation follows a bottom-up paradigm. The subsequent stages of the process: feature detection, feature description, vocabulary construction and image representation are performed independent of the intentioned object classes to be detected. In such a framework, combining multiple cues such as shape and color often provides below-expected results. This paper presents a novel method for recognizing object categories when using multiple cues by separating the shape and color cue. Color is used to guide attention by means of a top-down category-specific attention map. The color attention map is then further deployed to modulate the shape features by taking more features from regions within an image that are likely to contain an object instance. This procedure leads to a category-specific image histogram representation for each category. Furthermore, we argue that the method combines the advantages of both early and late fusion. We compare our approach with existing methods that combine color and shape cues on three data sets containing varied importance of both cues, namely, Soccer ( color predominance), Flower (color and shape parity), and PASCAL VOC Challenge 2007 (shape predominance). The experiments clearly demonstrate that in all three data sets our proposed framework significantly outperforms the state-of-the-art methods for combining color and shape information.
Address Kyoto, Japan
Corporate Author Thesis
Publisher Place of Publication Editor
Language Summary Language Original Title
Series Editor Series Title Abbreviated Series Title
Series Volume Series Issue Edition
ISSN 1550-5499 ISBN 978-1-4244-4420-5 Medium
Area Expedition Conference ICCV
Notes CIC Approved no
Call Number CAT @ cat @ SWV2009 Serial 1196
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Author Hector Laria Mantecon; Kai Wang; Joost Van de Weijer; Bogdan Raducanu; Kai Wang
Title NeRF-Diffusion for 3D-Consistent Face Generation and Editing Type Conference Article
Year 2024 Publication 19th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications Abbreviated Journal
Volume Issue Pages
Keywords
Abstract (up) Generating high-fidelity 3D-aware images without 3D supervision is a valuable capability in various applications. Current methods based on NeRF features, SDF information, or triplane features have limited variation after training. To address this, we propose a novel approach that combines pretrained models for shape and content generation. Our method leverages a pretrained Neural Radiance Field as a shape prior and a diffusion model for content generation. By conditioning the diffusion model with 3D features, we enhance its ability to generate novel views with 3D awareness. We introduce a consistency token shared between the NeRF module and the diffusion model to maintain 3D consistency during sampling. Moreover, our framework allows for text editing of 3D-aware image generation, enabling users to modify the style over 3D views while preserving semantic content. Our contributions include incorporating 3D awareness into a text-to-image model, addressing identity consistency in 3D view synthesis, and enabling text editing of 3D-aware image generation. We provide detailed explanations, including the shape prior based on the NeRF model and the content generation process using the diffusion model. We also discuss challenges such as shape consistency and sampling saturation. Experimental results demonstrate the effectiveness and visual quality of our approach.
Address Roma; Italia; February 2024
Corporate Author Thesis
Publisher Place of Publication Editor
Language Summary Language Original Title
Series Editor Series Title Abbreviated Series Title
Series Volume Series Issue Edition
ISSN ISBN Medium
Area Expedition Conference VISAPP
Notes LAMP Approved no
Call Number Admin @ si @ LWW2024 Serial 4003
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Author Guim Perarnau; Joost Van de Weijer; Bogdan Raducanu; Jose Manuel Alvarez
Title Invertible conditional gans for image editing Type Conference Article
Year 2016 Publication 30th Annual Conference on Neural Information Processing Systems Worshops Abbreviated Journal
Volume Issue Pages
Keywords
Abstract (up) Generative Adversarial Networks (GANs) have recently demonstrated to successfully approximate complex data distributions. A relevant extension of this model is conditional GANs (cGANs), where the introduction of external information allows to determine specific representations of the generated images. In this work, we evaluate encoders to inverse the mapping of a cGAN, i.e., mapping a real image into a latent space and a conditional representation. This allows, for example, to reconstruct and modify real images of faces conditioning on arbitrary attributes.
Additionally, we evaluate the design of cGANs. The combination of an encoder
with a cGAN, which we call Invertible cGAN (IcGAN), enables to re-generate real
images with deterministic complex modifications.
Address Barcelona; Spain; December 2016
Corporate Author Thesis
Publisher Place of Publication Editor
Language Summary Language Original Title
Series Editor Series Title Abbreviated Series Title
Series Volume Series Issue Edition
ISSN ISBN Medium
Area Expedition Conference NIPSW
Notes LAMP; ADAS; 600.068 Approved no
Call Number Admin @ si @ PWR2016 Serial 2906
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Author Diego Porres
Title Discriminator Synthesis: On reusing the other half of Generative Adversarial Networks Type Conference Article
Year 2021 Publication Machine Learning for Creativity and Design, Neurips Workshop Abbreviated Journal
Volume Issue Pages
Keywords
Abstract (up) Generative Adversarial Networks have long since revolutionized the world of computer vision and, tied to it, the world of art. Arduous efforts have gone into fully utilizing and stabilizing training so that outputs of the Generator network have the highest possible fidelity, but little has gone into using the Discriminator after training is complete. In this work, we propose to use the latter and show a way to use the features it has learned from the training dataset to both alter an image and generate one from scratch. We name this method Discriminator Dreaming, and the full code can be found at this https URL.
Address Virtual; December 2021
Corporate Author Thesis
Publisher Place of Publication Editor
Language Summary Language Original Title
Series Editor Series Title Abbreviated Series Title
Series Volume Series Issue Edition
ISSN ISBN Medium
Area Expedition Conference NEURIPSW
Notes ADAS; 601.365 Approved no
Call Number Admin @ si @ Por2021 Serial 3597
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Author Miguel Angel Bautista; Sergio Escalera; Oriol Pujol
Title On the Design of an ECOC-Compliant Genetic Algorithm Type Journal Article
Year 2014 Publication Pattern Recognition Abbreviated Journal PR
Volume 47 Issue 2 Pages 865-884
Keywords
Abstract (up) Genetic Algorithms (GA) have been previously applied to Error-Correcting Output Codes (ECOC) in state-of-the-art works in order to find a suitable coding matrix. Nevertheless, none of the presented techniques directly take into account the properties of the ECOC matrix. As a result the considered search space is unnecessarily large. In this paper, a novel Genetic strategy to optimize the ECOC coding step is presented. This novel strategy redefines the usual crossover and mutation operators in order to take into account the theoretical properties of the ECOC framework. Thus, it reduces the search space and lets the algorithm to converge faster. In addition, a novel operator that is able to enlarge the code in a smart way is introduced. The novel methodology is tested on several UCI datasets and four challenging computer vision problems. Furthermore, the analysis of the results done in terms of performance, code length and number of Support Vectors shows that the optimization process is able to find very efficient codes, in terms of the trade-off between classification performance and the number of classifiers. Finally, classification performance per dichotomizer results shows that the novel proposal is able to obtain similar or even better results while defining a more compact number of dichotomies and SVs compared to state-of-the-art approaches.
Address
Corporate Author Thesis
Publisher Place of Publication Editor
Language Summary Language Original Title
Series Editor Series Title Abbreviated Series Title
Series Volume Series Issue Edition
ISSN ISBN Medium
Area Expedition Conference
Notes HuPBA;MILAB Approved no
Call Number Admin @ si @ BEP2013 Serial 2254
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Author Andrea Gemelli; Sanket Biswas; Enrico Civitelli; Josep Llados; Simone Marinai
Title Doc2Graph: A Task Agnostic Document Understanding Framework Based on Graph Neural Networks Type Conference Article
Year 2022 Publication 17th European Conference on Computer Vision Workshops Abbreviated Journal
Volume 13804 Issue Pages 329–344
Keywords
Abstract (up) Geometric Deep Learning has recently attracted significant interest in a wide range of machine learning fields, including document analysis. The application of Graph Neural Networks (GNNs) has become crucial in various document-related tasks since they can unravel important structural patterns, fundamental in key information extraction processes. Previous works in the literature propose task-driven models and do not take into account the full power of graphs. We propose Doc2Graph, a task-agnostic document understanding framework based on a GNN model, to solve different tasks given different types of documents. We evaluated our approach on two challenging datasets for key information extraction in form understanding, invoice layout analysis and table detection.
Address
Corporate Author Thesis
Publisher Place of Publication Editor
Language Summary Language Original Title
Series Editor Series Title Abbreviated Series Title LNCS
Series Volume Series Issue Edition
ISSN ISBN 978-3-031-25068-2 Medium
Area Expedition Conference ECCV-TiE
Notes DAG; 600.162; 600.140; 110.312 Approved no
Call Number Admin @ si @ GBC2022 Serial 3795
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Author Razieh Rastgoo; Kourosh Kiani; Sergio Escalera
Title ZS-GR: zero-shot gesture recognition from RGB-D videos Type Journal Article
Year 2023 Publication Multimedia Tools and Applications Abbreviated Journal MTAP
Volume 82 Issue Pages 43781-43796
Keywords
Abstract (up) Gesture Recognition (GR) is a challenging research area in computer vision. To tackle the annotation bottleneck in GR, we formulate the problem of Zero-Shot Gesture Recognition (ZS-GR) and propose a two-stream model from two input modalities: RGB and Depth videos. To benefit from the vision Transformer capabilities, we use two vision Transformer models, for human detection and visual features representation. We configure a transformer encoder-decoder architecture, as a fast and accurate human detection model, to overcome the challenges of the current human detection models. Considering the human keypoints, the detected human body is segmented into nine parts. A spatio-temporal representation from human body is obtained using a vision Transformer and a LSTM network. A semantic space maps the visual features to the lingual embedding of the class labels via a Bidirectional Encoder Representations from Transformers (BERT) model. We evaluated the proposed model on five datasets, Montalbano II, MSR Daily Activity 3D, CAD-60, NTU-60, and isoGD obtaining state-of-the-art results compared to state-of-the-art ZS-GR models as well as the Zero-Shot Action Recognition (ZS-AR).
Address
Corporate Author Thesis
Publisher Place of Publication Editor
Language Summary Language Original Title
Series Editor Series Title Abbreviated Series Title
Series Volume Series Issue Edition
ISSN ISBN Medium
Area Expedition Conference
Notes HUPBA Approved no
Call Number Admin @ si @ RKE2023a Serial 3879
Permanent link to this record
 
 
Author Miquel Ferrer; Ernest Valveny; F. Serratosa
Title Median Graph Computation by means of a Genetic Approach Based on Minimum Common Supergraph and Maximum Common Subraph Type Conference Article
Year 2009 Publication 4th Iberian Conference on Pattern Recognition and Image Analysis Abbreviated Journal
Volume 5524 Issue Pages 346–353
Keywords
Abstract (up) Given a set of graphs, the median graph has been theoretically presented as a useful concept to infer a representative of the set. However, the computation of the median graph is a highly complex task and its practical application has been very limited up to now. In this work we present a new genetic algorithm for the median graph computation. A set of experiments on real data, where none of the existing algorithms for the median graph computation could be applied up to now due to their computational complexity, show that we obtain good approximations of the median graph. Finally, we use the median graph in a real nearest neighbour classification showing that it leaves the box of the only-theoretical concepts and demonstrating, from a practical point of view, that can be a useful tool to represent a set of graphs.
Address Póvoa de Varzim, Portugal
Corporate Author Thesis
Publisher Springer Berlin Heidelberg Place of Publication Editor
Language Summary Language Original Title
Series Editor Series Title Abbreviated Series Title LNCS
Series Volume Series Issue Edition
ISSN 0302-9743 ISBN 978-3-642-02171-8 Medium
Area Expedition Conference IbPRIA
Notes DAG Approved no
Call Number DAG @ dag @ FVS2009c Serial 1174
Permanent link to this record
 
 
Author Miquel Ferrer; Ernest Valveny; F. Serratosa
Title Median Graphs: A Genetic Approach based on New Theoretical Properties Type Journal Article
Year 2009 Publication Pattern Recognition Abbreviated Journal PR
Volume 42 Issue 9 Pages 2003–2012
Keywords Median graph; Genetic search; Maximum common subgraph; Graph matching; Structural pattern recognition
Abstract (up) Given a set of graphs, the median graph has been theoretically presented as a useful concept to infer a representative of the set. However, the computation of the median graph is a highly complex task and its practical application has been very limited up to now. In this work we present two major contributions. On one side, and from a theoretical point of view, we show new theoretical properties of the median graph. On the other side, using these new properties, we present a new approximate algorithm based on the genetic search, that improves the computation of the median graph. Finally, we perform a set of experiments on real data, where none of the existing algorithms for the median graph computation could be applied up to now due to their computational complexity. With these results, we show how the concept of the median graph can be used in real applications and leaves the box of the only-theoretical concepts, demonstrating, from a practical point of view, that can be a useful tool to represent a set of graphs.
Address
Corporate Author Thesis
Publisher Place of Publication Editor
Language Summary Language Original Title
Series Editor Series Title Abbreviated Series Title
Series Volume Series Issue Edition
ISSN ISBN Medium
Area Expedition Conference
Notes DAG Approved no
Call Number DAG @ dag @ FVS2009b Serial 1167
Permanent link to this record
 
 
Author Maedeh Aghaei; Mariella Dimiccoli; Petia Radeva
Title With whom do I interact with? Social interaction detection in egocentric photo-streams Type Conference Article
Year 2016 Publication 23rd International Conference on Pattern Recognition Abbreviated Journal
Volume Issue Pages
Keywords
Abstract (up) Given a user wearing a low frame rate wearable camera during a day, this work aims to automatically detect the moments when the user gets engaged into a social interaction solely by reviewing the automatically captured photos by the worn camera. The proposed method, inspired by the sociological concept of F-formation, exploits distance and orientation of the appearing individuals -with respect to the user- in the scene from a bird-view perspective. As a result, the interaction pattern over the sequence can be understood as a two-dimensional time series that corresponds to the temporal evolution of the distance and orientation features over time. A Long-Short Term Memory-based Recurrent Neural Network is then trained to classify each time series. Experimental evaluation over a dataset of 30.000 images has shown promising results on the proposed method for social interaction detection in egocentric photo-streams.
Address Cancun; Mexico; December 2016
Corporate Author Thesis
Publisher Place of Publication Editor
Language Summary Language Original Title
Series Editor Series Title Abbreviated Series Title
Series Volume Series Issue Edition
ISSN ISBN Medium
Area Expedition Conference ICPR
Notes MILAB Approved no
Call Number Admin @ si @ADR2016a Serial 2791
Permanent link to this record
 
 
Author Maedeh Aghaei; Mariella Dimiccoli; Petia Radeva
Title With Whom Do I Interact? Detecting Social Interactions in Egocentric Photo-streams Type Conference Article
Year 2016 Publication 23rd International Conference on Pattern Recognition Abbreviated Journal
Volume Issue Pages
Keywords
Abstract (up) Given a user wearing a low frame rate wearable camera during a day, this work aims to automatically detect the moments when the user gets engaged into a social interaction solely by reviewing the automatically captured photos by the worn camera. The proposed method, inspired by the sociological concept of F-formation, exploits distance and orientation of the appearing individuals -with respect to the user- in the scene from a bird-view perspective. As a result, the interaction pattern over the sequence can be understood as a two-dimensional time series that corresponds to the temporal evolution of the distance and orientation features over time. A Long-Short Term Memory-based Recurrent Neural Network is then trained to classify each time series. Experimental evaluation over a dataset of 30.000 images has shown promising results on the proposed method for social interaction detection in egocentric photo-streams.
Address Cancun; Mexico; December 2016
Corporate Author Thesis
Publisher Place of Publication Editor
Language Summary Language Original Title
Series Editor Series Title Abbreviated Series Title
Series Volume Series Issue Edition
ISSN ISBN Medium
Area Expedition Conference ICPR
Notes MILAB Approved no
Call Number Admin @ si @ ADR2016d Serial 2835
Permanent link to this record
 
 
Author Yaxing Wang; Abel Gonzalez-Garcia; Chenshen Wu; Luis Herranz; Fahad Shahbaz Khan; Shangling Jui; Jian Yang; Joost Van de Weijer
Title MineGAN++: Mining Generative Models for Efficient Knowledge Transfer to Limited Data Domains Type Journal Article
Year 2024 Publication International Journal of Computer Vision Abbreviated Journal IJCV
Volume 132 Issue Pages 490–514
Keywords
Abstract (up) Given the often enormous effort required to train GANs, both computationally as well as in dataset collection, the re-use of pretrained GANs largely increases the potential impact of generative models. Therefore, we propose a novel knowledge transfer method for generative models based on mining the knowledge that is most beneficial to a specific target domain, either from a single or multiple pretrained GANs. This is done using a miner network that identifies which part of the generative distribution of each pretrained GAN outputs samples closest to the target domain. Mining effectively steers GAN sampling towards suitable regions of the latent space, which facilitates the posterior finetuning and avoids pathologies of other methods, such as mode collapse and lack of flexibility. Furthermore, to prevent overfitting on small target domains, we introduce sparse subnetwork selection, that restricts the set of trainable neurons to those that are relevant for the target dataset. We perform comprehensive experiments on several challenging datasets using various GAN architectures (BigGAN, Progressive GAN, and StyleGAN) and show that the proposed method, called MineGAN, effectively transfers knowledge to domains with few target images, outperforming existing methods. In addition, MineGAN can successfully transfer knowledge from multiple pretrained GANs. MineGAN.
Address
Corporate Author Thesis
Publisher Place of Publication Editor
Language Summary Language Original Title
Series Editor Series Title Abbreviated Series Title
Series Volume Series Issue Edition
ISSN ISBN Medium
Area Expedition Conference
Notes LAMP; MACO Approved no
Call Number Admin @ si @ WGW2024 Serial 3888
Permanent link to this record
 
 
Author Spyridon Bakas; Mauricio Reyes; Andras Jakab; Stefan Bauer; Markus Rempfler; Alessandro Crimi; Russell Takeshi Shinohara; Christoph Berger; Sung Min Ha; Martin Rozycki; Marcel Prastawa; Esther Alberts; Jana Lipkova; John Freymann; Justin Kirby; Michel Bilello; Hassan Fathallah-Shaykh; Roland Wiest; Jan Kirschke; Benedikt Wiestler; Rivka Colen; Aikaterini Kotrotsou; Pamela Lamontagne; Daniel Marcus; Mikhail Milchenko; Arash Nazeri; Marc-Andre Weber; Abhishek Mahajan; Ujjwal Baid; Dongjin Kwon; Manu Agarwal; Mahbubul Alam; Alberto Albiol; Antonio Albiol; Varghese Alex; Tuan Anh Tran; Tal Arbel; Aaron Avery; Subhashis Banerjee; Thomas Batchelder; Kayhan Batmanghelich; Enzo Battistella; Martin Bendszus; Eze Benson; Jose Bernal; George Biros; Mariano Cabezas; Siddhartha Chandra; Yi-Ju Chang; Joseph Chazalon; Shengcong Chen; Wei Chen; Jefferson Chen; Kun Cheng; Meinel Christoph; Roger Chylla; Albert Clérigues; Anthony Costa; Xiaomeng Cui; Zhenzhen Dai; Lutao Dai; Eric Deutsch; Changxing Ding; Chao Dong; Wojciech Dudzik; Theo Estienne; Hyung Eun Shin; Richard Everson; Jonathan Fabrizio; Longwei Fang; Xue Feng; Lucas Fidon; Naomi Fridman; Huan Fu; David Fuentes; David G Gering; Yaozong Gao; Evan Gates; Amir Gholami; Mingming Gong; Sandra Gonzalez-Villa; J Gregory Pauloski; Yuanfang Guan; Sheng Guo; Sudeep Gupta; Meenakshi H Thakur; Klaus H Maier-Hein; Woo-Sup Han; Huiguang He; Aura Hernandez-Sabate; Evelyn Herrmann; Naveen Himthani; Winston Hsu; Cheyu Hsu; Xiaojun Hu; Xiaobin Hu; Yan Hu; Yifan Hu; Rui Hua
Title Identifying the best machine learning algorithms for brain tumor segmentation, progression assessment, and overall survival prediction in the BRATS challenge Type Miscellaneous
Year 2018 Publication Arxiv Abbreviated Journal
Volume Issue Pages
Keywords BraTS; challenge; brain; tumor; segmentation; machine learning; glioma; glioblastoma; radiomics; survival; progression; RECIST
Abstract (up) Gliomas are the most common primary brain malignancies, with different degrees of aggressiveness, variable prognosis and various heterogeneous histologic sub-regions, i.e., peritumoral edematous/invaded tissue, necrotic core, active and non-enhancing core. This intrinsic heterogeneity is also portrayed in their radio-phenotype, as their sub-regions are depicted by varying intensity profiles disseminated across multiparametric magnetic resonance imaging (mpMRI) scans, reflecting varying biological properties. Their heterogeneous shape, extent, and location are some of the factors that make these tumors difficult to resect, and in some cases inoperable. The amount of resected tumor is a factor also considered in longitudinal scans, when evaluating the apparent tumor for potential diagnosis of progression. Furthermore, there is mounting evidence that accurate segmentation of the various tumor sub-regions can offer the basis for quantitative image analysis towards prediction of patient overall survival. This study assesses the state-of-the-art machine learning (ML) methods used for brain tumor image analysis in mpMRI scans, during the last seven instances of the International Brain Tumor Segmentation (BraTS) challenge, i.e. 2012-2018. Specifically, we focus on i) evaluating segmentations of the various glioma sub-regions in preoperative mpMRI scans, ii) assessing potential tumor progression by virtue of longitudinal growth of tumor sub-regions, beyond use of the RECIST criteria, and iii) predicting the overall survival from pre-operative mpMRI scans of patients that undergone gross total resection. Finally, we investigate the challenge of identifying the best ML algorithms for each of these tasks, considering that apart from being diverse on each instance of the challenge, the multi-institutional mpMRI BraTS dataset has also been a continuously evolving/growing dataset.
Address
Corporate Author Thesis
Publisher Place of Publication Editor
Language Summary Language Original Title
Series Editor Series Title Abbreviated Series Title
Series Volume Series Issue Edition
ISSN ISBN Medium
Area Expedition Conference
Notes ADAS; 600.118 Approved no
Call Number Admin @ si @ BRJ2018 Serial 3252
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Author M. Altillawi; S. Li; S.M. Prakhya; Z. Liu; Joan Serrat
Title Implicit Learning of Scene Geometry From Poses for Global Localization Type Journal Article
Year 2024 Publication IEEE Robotics and Automation Letters Abbreviated Journal ROBOTAUTOMLET
Volume 9 Issue 2 Pages 955-962
Keywords Localization; Localization and mapping; Deep learning for visual perception; Visual learning
Abstract (up) Global visual localization estimates the absolute pose of a camera using a single image, in a previously mapped area. Obtaining the pose from a single image enables many robotics and augmented/virtual reality applications. Inspired by latest advances in deep learning, many existing approaches directly learn and regress 6 DoF pose from an input image. However, these methods do not fully utilize the underlying scene geometry for pose regression. The challenge in monocular relocalization is the minimal availability of supervised training data, which is just the corresponding 6 DoF poses of the images. In this letter, we propose to utilize these minimal available labels (i.e., poses) to learn the underlying 3D geometry of the scene and use the geometry to estimate the 6 DoF camera pose. We present a learning method that uses these pose labels and rigid alignment to learn two 3D geometric representations ( X, Y, Z coordinates ) of the scene, one in camera coordinate frame and the other in global coordinate frame. Given a single image, it estimates these two 3D scene representations, which are then aligned to estimate a pose that matches the pose label. This formulation allows for the active inclusion of additional learning constraints to minimize 3D alignment errors between the two 3D scene representations, and 2D re-projection errors between the 3D global scene representation and 2D image pixels, resulting in improved localization accuracy. During inference, our model estimates the 3D scene geometry in camera and global frames and aligns them rigidly to obtain pose in real-time. We evaluate our work on three common visual localization datasets, conduct ablation studies, and show that our method exceeds state-of-the-art regression methods' pose accuracy on all datasets.
Address
Corporate Author Thesis
Publisher Place of Publication Editor
Language Summary Language Original Title
Series Editor Series Title Abbreviated Series Title
Series Volume Series Issue Edition
ISSN 2377-3766 ISBN Medium
Area Expedition Conference
Notes ADAS Approved no
Call Number Admin @ si @ Serial 3857
Permanent link to this record