Check the preview of 2nd version of this platform
being developed by the open MLCommons taskforce on automation and reproducibility
as a free, open-source and technology-agnostic on-prem platform.
Geometrically Mappable Image Features
lib:e696b434c29a6629 (v1.0.0)
Authors: Janine Thoma,Danda Pani Paudel,Ajad Chhatkuli,Luc Van Gool
ArXiv: 2003.09682
Document: PDF DOI
Abstract URL: https://arxiv.org/abs/2003.09682v1
Vision-based localization of an agent in a map is an important problem in robotics and computer vision. In that context, localization by learning matchable image features is gaining popularity due to recent advances in machine learning. Features that uniquely describe the visual contents of images have a wide range of applications, including image retrieval and understanding. In this work, we propose a method that learns image features targeted for image-retrieval-based localization. Retrieval-based localization has several benefits, such as easy maintenance and quick computation. However, the state-of-the-art features only provide visual similarity scores which do not explicitly reveal the geometric distance between query and retrieved images. Knowing this distance is highly desirable for accurate localization, especially when the reference images are sparsely distributed in the scene. Therefore, we propose a novel loss function for learning image features which are both visually representative and geometrically relatable. This is achieved by guiding the learning process such that the feature and geometric distances between images are directly proportional. In our experiments we show that our features not only offer significantly better localization accuracy, but also allow to estimate the trajectory of a query sequence in absence of the reference images.
ArXiv: 2003.09682
Document: PDF DOI
Abstract URL: https://arxiv.org/abs/2003.09682v1
Vision-based localization of an agent in a map is an important problem in robotics and computer vision. In that context, localization by learning matchable image features is gaining popularity due to recent advances in machine learning. Features that uniquely describe the visual contents of images have a wide range of applications, including image retrieval and understanding. In this work, we propose a method that learns image features targeted for image-retrieval-based localization. Retrieval-based localization has several benefits, such as easy maintenance and quick computation. However, the state-of-the-art features only provide visual similarity scores which do not explicitly reveal the geometric distance between query and retrieved images. Knowing this distance is highly desirable for accurate localization, especially when the reference images are sparsely distributed in the scene. Therefore, we propose a novel loss function for learning image features which are both visually representative and geometrically relatable. This is achieved by guiding the learning process such that the feature and geometric distances between images are directly proportional. In our experiments we show that our features not only offer significantly better localization accuracy, but also allow to estimate the trajectory of a query sequence in absence of the reference images.
Relevant initiatives
Related knowledge about this paper
Reproduced results (crowd-benchmarking and competitions)
Artifact and reproducibility checklists
- ACM/cTuning artifact appendix and reproducibility checklist
- NeurIPS reproducibility checklist
- SIGPLAN's checklist for empirical evaluation
- Collective Knowledge (organizing research projects based on FAIR principles)