We are very excited to join forces with MLCommons and OctoML.ai! Contact Grigori Fursin for more details!

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.

Relevant initiatives  

Related knowledge about this paper Reproduced results (crowd-benchmarking and competitions) Artifact and reproducibility checklists Common formats for research projects and shared artifacts Reproducibility initiatives

Comments  

Please log in to add your comments!
If you notice any inapropriate content that should not be here, please report us as soon as possible and we will try to remove it within 48 hours!