Journal ArticleDOI
Distinctive Image Features from Scale-Invariant Keypoints
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This paper presents a method for extracting distinctive invariant features from images that can be used to perform reliable matching between different views of an object or scene and can robustly identify objects among clutter and occlusion while achieving near real-time performance.Abstract:
This paper presents a method for extracting distinctive invariant features from images that can be used to perform reliable matching between different views of an object or scene. The features are invariant to image scale and rotation, and are shown to provide robust matching across a substantial range of affine distortion, change in 3D viewpoint, addition of noise, and change in illumination. The features are highly distinctive, in the sense that a single feature can be correctly matched with high probability against a large database of features from many images. This paper also describes an approach to using these features for object recognition. The recognition proceeds by matching individual features to a database of features from known objects using a fast nearest-neighbor algorithm, followed by a Hough transform to identify clusters belonging to a single object, and finally performing verification through least-squares solution for consistent pose parameters. This approach to recognition can robustly identify objects among clutter and occlusion while achieving near real-time performance.read more
Citations
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Journal ArticleDOI
Automatic Analysis of Facial Affect: A Survey of Registration, Representation, and Recognition
TL;DR: This paper provides a comprehensive analysis of facial representations by uncovering their advantages and limitations, and elaborate on the type of information they encode and how they deal with the key challenges of illumination variations, registration errors, head-pose variations, occlusions, and identity bias.
Journal ArticleDOI
Color Balance and Fusion for Underwater Image Enhancement
TL;DR: This work introduces an effective technique to enhance the images captured underwater and degraded due to the medium scattering and absorption by building on the blending of two images that are directly derived from a color-compensated and white-balanced version of the original degraded image.
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Simultaneous Localization and Mapping: A Survey of Current Trends in Autonomous Driving
TL;DR: This paper presents the limits of classical approaches for autonomous driving and discusses the criteria that are essential for this kind of application, as well as reviewing the methods where the identified challenges are tackled.
Proceedings ArticleDOI
Seeing 3D Chairs: Exemplar Part-Based 2D-3D Alignment Using a Large Dataset of CAD Models
TL;DR: An exemplar-based 3D category representation is proposed, which can explicitly model chairs of different styles as well as the large variation in viewpoint, and an approach to establish part-based correspondences between 3D CAD models and real photographs is developed.
Proceedings ArticleDOI
Benchmarking 6DOF Outdoor Visual Localization in Changing Conditions
Torsten Sattler,Will Maddern,Carl Toft,Akihiko Torii,Lars Hammarstrand,Erik Stenborg,Daniel Safari,Daniel Safari,Masatoshi Okutomi,Marc Pollefeys,Marc Pollefeys,Josef Sivic,Fredrik Kahl,Fredrik Kahl,Tomas Pajdla +14 more
TL;DR: This paper introduces the first benchmark datasets specifically designed for analyzing the impact of day-night changes, weather and seasonal variations, as well as sequence-based localization approaches and the need for better local features on visual localization.
References
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Proceedings ArticleDOI
Object recognition from local scale-invariant features
TL;DR: Experimental results show that robust object recognition can be achieved in cluttered partially occluded images with a computation time of under 2 seconds.
Book
Multiple view geometry in computer vision
Richard Hartley,Andrew Zisserman +1 more
TL;DR: In this article, the authors provide comprehensive background material and explain how to apply the methods and implement the algorithms directly in a unified framework, including geometric principles and how to represent objects algebraically so they can be computed and applied.
Multiple View Geometry in Computer Vision.
TL;DR: This book is referred to read because it is an inspiring book to give you more chance to get experiences and also thoughts and it will show the best book collections and completed collections.
Proceedings ArticleDOI
A Combined Corner and Edge Detector
Chris Harris,Mike Stephens +1 more
TL;DR: The problem the authors are addressing in Alvey Project MMI149 is that of using computer vision to understand the unconstrained 3D world, in which the viewed scenes will in general contain too wide a diversity of objects for topdown recognition techniques to work.
Journal ArticleDOI
Robust wide-baseline stereo from maximally stable extremal regions
TL;DR: The high utility of MSERs, multiple measurement regions and the robust metric is demonstrated in wide-baseline experiments on image pairs from both indoor and outdoor scenes.