Download or read book Efficient Effective Image Based Localization written by Torsten Sattler and published by . This book was released on 2014-04-15 with total page 214 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Efficient Image based Localization Using Context written by Charbel Azzi and published by . This book was released on 2015 with total page 84 pages. Available in PDF, EPUB and Kindle. Book excerpt: Image-Based Localization (IBL) is the problem of computing the position and orientation of a camera with respect to a geometric representation of the scene. A fundamental building block of IBL is searching the space of a saved 3D representation of the scene for correspondences to a query image. The robustness and accuracy of the IBL approaches in the literature are not objective and quantifiable. First, this thesis presents a detailed description and study of three different 3D modeling packages based on SFM to reconstruct a 3D map of an environment. The packages tested are VSFM, Bundler and PTAM. The objective is to assess the mapping ability of each of the techniques and choose the best one to use for reconstructing the IBL 3D map. The study results show that image matching which is the bottleneck of SFM, SLAM and IBL plays the major role in favour of VSFM. This will result in using wrong matches in building the 3D map. It is crucial for IBL to choose the software that provides the best quality of points, \textit{i.e.} the largest number of correct 3D points. For this reason, VSFM will be chosen to reconstruct the 3D maps for IBL. Second, this work presents a comparative study of the main approaches, namely Brute Force Matching, Tree-Based Approach, Embedded Ferns Classification, ACG Localizer, Keyframe Approach, Decision Forest, Worldwide Pose Estimation and MPEG Search Space Reduction. The objective of the comparative analysis was to first uncover the specifics of each of these techniques and thereby understand the advantages and disadvantages of each of them. The testing was performed on Dubrovnik Dataset where the localization is determined with respect to a 3D cloud map which was computed using a Structure-from-Motion approach. The study results show that the current state of the art IBL solutions still face challenges in search space reduction, feature matching, clustering, and the quality of the solution is not consistent across all query images. Third, this work addresses the search space problem in order to solve the IBL problem. The Gist-based Search Space Reduction (GSSR), an efficient alternative to the available search space solutions, is proposed. It relies on GIST descriptors to considerably reduce search space and computational time, while at the same exceeding the state of the art in localization accuracy. Experiments on the 7 scenes datasets of Microsoft Research reveal considerable speedups for GSSR versus tree-based approaches, reaching a 4 times faster speed for the Heads dataset, and reducing the search space by an average of 92% while maintaining a better accuracy.

Download or read book Efficient Image Based Localization Using Machine Learning Techniques written by Ahmed Elmougi and published by . This book was released on 2021 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Localization is critical for self-awareness of any autonomous system and is an important part of the autonomous system stack which consists of many phases including sensing, perceiving, planning and control. In the sensing phase, data from on board sensors are collected, preprocessed and passed to the next phase. The perceiving phase is responsible for self awareness or localization and situational awareness which includes multi-objects detection and scene understanding. After the autonomous system is aware of where it is and what is around it, it can use this knowledge to plan for the path it can take and send control commands to pursue this path. In this proposal, we focus on the localization part of the autonomous stack using camera images. We deal with the localization problem from different perspectives including single images and videos. Starting with the single image pose estimation, our approach is to propose systems that not only have good localization accuracy, but also have low space and time complexity. Firstly, we propose SurfCNN, a low cost indoor localization system that uses SURF descriptors instead of the original images to reduce the complexity of training convolutional neural networks (CNN) for indoor localization application. Given a single input image, the strongest SURF features descriptors are used as input to 5 convolutional layers to find its absolute position and orientation in arbitrary reference frame. The proposed system achieves comparable performance to the state of the art using only 300 features without the need for using the full image or complex neural networks architectures. Following, we propose SURF-LSTM, an extension to the idea of using SURF descriptors instead the original images. However, instead of CNN used in SurfCNN, we use long short term memory (LSTM) network which is one type of recurrent neural networks (RNN) to extract the sequential relation between SURF descriptors. Using SURF-LSTM, We only need 50 features to reach comparable or better results compared with SurfCNN that needs 300 features and other works that use full images with large neural networks. In the following research phase, instead of using SURF descriptors as image features to reduce the training complexity, we study the effect of using features extracted from other CNN models that were pretrained on other image tasks like image classification without further training and fine tuning. To learn the pose from pretrained features, graph neural networks (GNN) are adopted to solve the single image localization problem (Pose-GNN) by using these features representations either as features of nodes in a graph (image as a node) or converted into a graph (image as a graph). The proposed models outperform the state of the art methods on indoor localization dataset and have comparable performance for outdoor scenes. In the final stage of single image pose estimation research, we study if we can achieve good localization results without the need for training complex neural network. We propose (Linear-PoseNet) by which we can achieve similar results to the other methods based on neural networks with training a single linear regression layer on image features from pretrained ResNet50 in less than one second on CPU. Moreover, for outdoor scenes, we propose (Dense-PoseNet) that have only 3 fully connected layers trained on few minutes that reach comparable performance to other complex methods. The second localization perspective is to find the relative poses between images in a video instead of absolute poses. We extend the idea used in SurfCNN and SURF-LSTM systems and use SURF descriptors as feature representation of the images in the video. Two systems are proposed to find the relative poses between images in the video using 3D-CNN and 2DCNN-RNN. We show that using 3D-CNN is better than using the combination of CNN-RNN for relative pose estimation.

Download or read book Large Scale Visual Geo Localization written by Amir R. Zamir and published by Springer. This book was released on 2016-07-05 with total page 353 pages. Available in PDF, EPUB and Kindle. Book excerpt: This timely and authoritative volume explores the bidirectional relationship between images and locations. The text presents a comprehensive review of the state of the art in large-scale visual geo-localization, and discusses the emerging trends in this area. Valuable insights are supplied by a pre-eminent selection of experts in the field, into a varied range of real-world applications of geo-localization. Topics and features: discusses the latest methods to exploit internet-scale image databases for devising geographically rich features and geo-localizing query images at different scales; investigates geo-localization techniques that are built upon high-level and semantic cues; describes methods that perform precise localization by geometrically aligning the query image against a 3D model; reviews techniques that accomplish image understanding assisted by the geo-location, as well as several approaches for geo-localization under practical, real-world settings.

Download or read book Computer Vision ECCV 2018 Workshops written by Laura Leal-Taixé and published by Springer. This book was released on 2019-01-22 with total page 763 pages. Available in PDF, EPUB and Kindle. Book excerpt: The six-volume set comprising the LNCS volumes 11129-11134 constitutes the refereed proceedings of the workshops that took place in conjunction with the 15th European Conference on Computer Vision, ECCV 2018, held in Munich, Germany, in September 2018.43 workshops from 74 workshops proposals were selected for inclusion in the proceedings. The workshop topics present a good orchestration of new trends and traditional issues, built bridges into neighboring fields, and discuss fundamental technologies and novel applications.

Download or read book Computer Vision ECCV 2020 written by Andrea Vedaldi and published by Springer Nature. This book was released on 2020-10-28 with total page 844 pages. Available in PDF, EPUB and Kindle. Book excerpt: The 30-volume set, comprising the LNCS books 12346 until 12375, constitutes the refereed proceedings of the 16th European Conference on Computer Vision, ECCV 2020, which was planned to be held in Glasgow, UK, during August 23-28, 2020. The conference was held virtually due to the COVID-19 pandemic. The 1360 revised papers presented in these proceedings were carefully reviewed and selected from a total of 5025 submissions. The papers deal with topics such as computer vision; machine learning; deep neural networks; reinforcement learning; object recognition; image classification; image processing; object detection; semantic segmentation; human pose estimation; 3d reconstruction; stereo vision; computational photography; neural networks; image coding; image reconstruction; object recognition; motion estimation.

Download or read book Image based Localization in Urban Environments written by and published by . This book was released on 2010 with total page 28 pages. Available in PDF, EPUB and Kindle. Book excerpt: This report describes an efficient algorithm to accurately determine the position and orientation of a camera in an outdoor urban environment using camera imagery acquired from a single location on the ground. The requirement to operate using imagery from a single location allows a system using our algorithms to generate instant position estimates and ensures that the approach may be applied to both mobile and immobile ground sensors. Localization is accomplished by registering visible ground images to urban terrain models that are easily generated offline from aerial imagery. Provided there are a sufficient number of buildings in view of the sensor, our approach provides accurate position and orientation estimates, with position estimates that are more accurate than those typically produced by a global positioning system (GPS).

Download or read book Computer Vision ECCV 2022 written by Shai Avidan and published by Springer Nature. This book was released on 2022-11-03 with total page 815 pages. Available in PDF, EPUB and Kindle. Book excerpt: The 39-volume set, comprising the LNCS books 13661 until 13699, constitutes the refereed proceedings of the 17th European Conference on Computer Vision, ECCV 2022, held in Tel Aviv, Israel, during October 23–27, 2022. The 1645 papers presented in these proceedings were carefully reviewed and selected from a total of 5804 submissions. The papers deal with topics such as computer vision; machine learning; deep neural networks; reinforcement learning; object recognition; image classification; image processing; object detection; semantic segmentation; human pose estimation; 3d reconstruction; stereo vision; computational photography; neural networks; image coding; image reconstruction; object recognition; motion estimation.

Download or read book Image and Graphics written by Yao Zhao and published by Springer Nature. This book was released on 2019-11-27 with total page 772 pages. Available in PDF, EPUB and Kindle. Book excerpt: This three-volume set LNCS 11901, 11902, and 11903 constitutes the refereed conference proceedings of the 10thth International Conference on Image and Graphics, ICIG 2019, held in Beijing, China, in August 2019. The 183 full papers presented were selected from 384 submissions and focus on advances of theory, techniques and algorithms as well as innovative technologies of image, video and graphics processing and fostering innovation, entrepreneurship, and networking.

Download or read book Computer Vision ECCV 2020 Workshops written by Adrien Bartoli and published by Springer Nature. This book was released on 2021-01-02 with total page 777 pages. Available in PDF, EPUB and Kindle. Book excerpt: The 6-volume set, comprising the LNCS books 12535 until 12540, constitutes the refereed proceedings of 28 out of the 45 workshops held at the 16th European Conference on Computer Vision, ECCV 2020. The conference was planned to take place in Glasgow, UK, during August 23-28, 2020, but changed to a virtual format due to the COVID-19 pandemic. The 249 full papers, 18 short papers, and 21 further contributions included in the workshop proceedings were carefully reviewed and selected from a total of 467 submissions. The papers deal with diverse computer vision topics. Part IV focusses on advances in image manipulation; assistive computer vision and robotics; and computer vision for UAVs.

Download or read book Image Analysis written by Rikke Gade and published by Springer Nature. This book was released on 2023-04-26 with total page 457 pages. Available in PDF, EPUB and Kindle. Book excerpt: This two-volume set (LNCS 13885-13886) constitutes the refereed proceedings of the 23rd Scandinavian Conference on Image Analysis, SCIA 2023, held in Lapland, Finland, in April 2023. The 67 revised papers presented were carefully reviewed and selected from 108 submissions. The contributions are structured in topical sections on datasets and evaluation; action and behaviour recognition; image and video processing, analysis, and understanding; detection, recognition, classification, and localization in 2D and/or 3D; machine learning and deep learning; segmentation, grouping, and shape; vision for robotics and autonomous vehicles; biometrics, faces, body gestures and pose; 3D vision from multiview and other sensors; vision applications and systems.

Download or read book Computer Analysis of Images and Patterns written by Mario Vento and published by Springer Nature. This book was released on 2019-08-23 with total page 596 pages. Available in PDF, EPUB and Kindle. Book excerpt: The two volume set LNCS 11678 and 11679 constitutes the refereed proceedings of the 18th International Conference on Computer Analysis of Images and Patterns, CAIP 2019, held in Salerno, Italy, in September 2019. The 106 papers presented were carefully reviewed and selected from 176 submissions The papers are organized in the following topical sections: Intelligent Systems; Real-time and GPU Processing; Image Segmentation; Image and Texture Analysis; Machine Learning for Image and Pattern Analysis; Data Sets and Benchmarks; Structural and Computational Pattern Recognition; Posters.

Download or read book Computer Vision ECCV 2022 Workshops written by Leonid Karlinsky and published by Springer Nature. This book was released on 2023-02-17 with total page 797 pages. Available in PDF, EPUB and Kindle. Book excerpt: The 8-volume set, comprising the LNCS books 13801 until 13809, constitutes the refereed proceedings of 38 out of the 60 workshops held at the 17th European Conference on Computer Vision, ECCV 2022. The conference took place in Tel Aviv, Israel, during October 23-27, 2022; the workshops were held hybrid or online. The 367 full papers included in this volume set were carefully reviewed and selected for inclusion in the ECCV 2022 workshop proceedings. They were organized in individual parts as follows: Part I: W01 - AI for Space; W02 - Vision for Art; W03 - Adversarial Robustness in the Real World; W04 - Autonomous Vehicle Vision Part II: W05 - Learning With Limited and Imperfect Data; W06 - Advances in Image Manipulation; Part III: W07 - Medical Computer Vision; W08 - Computer Vision for Metaverse; W09 - Self-Supervised Learning: What Is Next?; Part IV: W10 - Self-Supervised Learning for Next-Generation Industry-Level Autonomous Driving; W11 - ISIC Skin Image Analysis; W12 - Cross-Modal Human-Robot Interaction; W13 - Text in Everything; W14 - BioImage Computing; W15 - Visual Object-Oriented Learning Meets Interaction: Discovery, Representations, and Applications; W16 - AI for Creative Video Editing and Understanding; W17 - Visual Inductive Priors for Data-Efficient Deep Learning; W18 - Mobile Intelligent Photography and Imaging; Part V: W19 - People Analysis: From Face, Body and Fashion to 3D Virtual Avatars; W20 - Safe Artificial Intelligence for Automated Driving; W21 - Real-World Surveillance: Applications and Challenges; W22 - Affective Behavior Analysis In-the-Wild; Part VI: W23 - Visual Perception for Navigation in Human Environments: The JackRabbot Human Body Pose Dataset and Benchmark; W24 - Distributed Smart Cameras; W25 - Causality in Vision; W26 - In-Vehicle Sensing and Monitorization; W27 - Assistive Computer Vision and Robotics; W28 - Computational Aspects of Deep Learning; Part VII: W29 - Computer Vision for Civil and Infrastructure Engineering; W30 - AI-Enabled Medical Image Analysis: Digital Pathology and Radiology/COVID19; W31 - Compositional and Multimodal Perception; Part VIII: W32 - Uncertainty Quantification for Computer Vision; W33 - Recovering 6D Object Pose; W34 - Drawings and Abstract Imagery: Representation and Analysis; W35 - Sign Language Understanding; W36 - A Challenge for Out-of-Distribution Generalization in Computer Vision; W37 - Vision With Biased or Scarce Data; W38 - Visual Object Tracking Challenge.

Download or read book Vision based Localization and Attitude Estimation Methods in Natural Environments written by Bertil Grelsson and published by Linköping University Electronic Press. This book was released on 2019-04-30 with total page 99 pages. Available in PDF, EPUB and Kindle. Book excerpt: Over the last decade, the usage of unmanned systems such as Unmanned Aerial Vehicles (UAVs), Unmanned Surface Vessels (USVs) and Unmanned Ground Vehicles (UGVs) has increased drastically, and there is still a rapid growth. Today, unmanned systems are being deployed in many daily operations, e.g. for deliveries in remote areas, to increase efficiency of agriculture, and for environmental monitoring at sea. For safety reasons, unmanned systems are often the preferred choice for surveillance missions in hazardous environments, e.g. for detection of nuclear radiation, and in disaster areas after earthquakes, hurricanes, or during forest fires. For safe navigation of the unmanned systems during their missions, continuous and accurate global localization and attitude estimation is mandatory. Over the years, many vision-based methods for position estimation have been developed, primarily for urban areas. In contrast, this thesis is mainly focused on vision-based methods for accurate position and attitude estimates in natural environments, i.e. beyond the urban areas. Vision-based methods possess several characteristics that make them appealing as global position and attitude sensors. First, vision sensors can be realized and tailored for most unmanned vehicle applications. Second, geo-referenced terrain models can be generated worldwide from satellite imagery and can be stored onboard the vehicles. In natural environments, where the availability of geo-referenced images in general is low, registration of image information with terrain models is the natural choice for position and attitude estimation. This is the problem area that I addressed in the contributions of this thesis. The first contribution is a method for full 6DoF (degrees of freedom) pose estimation from aerial images. A dense local height map is computed using structure from motion. The global pose is inferred from the 3D similarity transform between the local height map and a digital elevation model. Aligning height information is assumed to be more robust to season variations than feature-based matching. The second contribution is a method for accurate attitude (pitch and roll angle) estimation via horizon detection. It is one of only a few methods that use an omnidirectional (fisheye) camera for horizon detection in aerial images. The method is based on edge detection and a probabilistic Hough voting scheme. The method allows prior knowledge of the attitude angles to be exploited to make the initial attitude estimates more robust. The estimates are then refined through registration with the geometrically expected horizon line from a digital elevation model. To the best of our knowledge, it is the first method where the ray refraction in the atmosphere is taken into account, which enables the highly accurate attitude estimates. The third contribution is a method for position estimation based on horizon detection in an omnidirectional panoramic image around a surface vessel. Two convolutional neural networks (CNNs) are designed and trained to estimate the camera orientation and to segment the horizon line in the image. The MOSSE correlation filter, normally used in visual object tracking, is adapted to horizon line registration with geometric data from a digital elevation model. Comprehensive field trials conducted in the archipelago demonstrate the GPS-level accuracy of the method, and that the method can be trained on images from one region and then applied to images from a previously unvisited test area. The CNNs in the third contribution apply the typical scheme of convolutions, activations, and pooling. The fourth contribution focuses on the activations and suggests a new formulation to tune and optimize a piecewise linear activation function during training of CNNs. Improved classification results from experiments when tuning the activation function led to the introduction of a new activation function, the Shifted Exponential Linear Unit (ShELU).

Download or read book Image and Graphics written by Huchuan Lu and published by Springer Nature. This book was released on 2023-11-30 with total page 451 pages. Available in PDF, EPUB and Kindle. Book excerpt: The five-volume set LNCS 14355, 14356, 14357, 14358 and 14359 constitutes the refereed proceedings of the 12th International Conference on Image and Graphics, ICIG 2023, held in Nanjing, China, during September 22–24, 2023. The 166 papers presented in the proceedings set were carefully reviewed and selected from 409 submissions. They were organized in topical sections as follows: computer vision and pattern recognition; computer graphics and visualization; compression, transmission, retrieval; artificial intelligence; biological and medical image processing; color and multispectral processing; computational imaging; multi-view and stereoscopic processing; multimedia security; surveillance and remote sensing, and virtual reality. The ICIG 2023 is a biennial conference that focuses on innovative technologies of image, video and graphics processing and fostering innovation, entrepreneurship, and networking. It will feature world-class plenary speakers, exhibits, and high quality peer reviewed oral and poster presentations.

Download or read book Image Analysis and Processing ICIAP 2019 written by Elisa Ricci and published by Springer Nature. This book was released on 2019-09-04 with total page 769 pages. Available in PDF, EPUB and Kindle. Book excerpt: The two-volume set LNCS 11751 and 11752 constitutes the refereed proceedings of the 20th International Conference on Image Analysis and Processing, ICIAP 2019, held in Trento, Italy, in September 2019. The 117 papers presented were carefully reviewed and selected from 207 submissions. The papers cover both classic and the most recent trends in image processing, computer vision, and pattern recognition, addressing both theoretical and applicative aspects. They are organized in the following topical sections: Video Analysis and Understanding; Pattern Recognition and Machine Learning; Deep Learning; Multiview Geometry and 3D Computer Vision; Image Analysis, Detection and Recognition; Multimedia; Biomedical and Assistive Technology; Digital Forensics; Image processing for Cultural Heritage.

Download or read book Computer Vision ACCV 2018 written by C.V. Jawahar and published by Springer. This book was released on 2019-05-25 with total page 727 pages. Available in PDF, EPUB and Kindle. Book excerpt: The six volume set LNCS 11361-11366 constitutes the proceedings of the 14th Asian Conference on Computer Vision, ACCV 2018, held in Perth, Australia, in December 2018. The total of 274 contributions was carefully reviewed and selected from 979 submissions during two rounds of reviewing and improvement. The papers focus on motion and tracking, segmentation and grouping, image-based modeling, dep learning, object recognition object recognition, object detection and categorization, vision and language, video analysis and event recognition, face and gesture analysis, statistical methods and learning, performance evaluation, medical image analysis, document analysis, optimization methods, RGBD and depth camera processing, robotic vision, applications of computer vision.