A framework is presented for estimating the pose of a camera based on images extracted from a single omnidirectional image of an urban scene, given a 2D map with building outlines with no 3D geometric information nor appearance data. The framework attempts to identify vertical corner edges of buildings in the query image, which we term VCLH, as well as the neighboring plane normals, through vanishing point analysis. A bottom-up process further groups VCLH into elemental planes and subsequently into 3D structural fragments modulo a similarity transformation. A geometric hashing lookup allows us to rapidly establish multiple candidate correspondences between the structural fragments and the 2D map building contours. A voting-based camera pose estimation method is then employed to recover the correspondences admitting a camera pose solution with high consensus. In a dataset that is even challenging for humans, the system returned a top-30 ranking for correct matches out of 3600 camera pose hypotheses (0.83% selectivity) for 50.9% of queries.
This paper presents a method for vote-based 3D shape recognition and registration, in particular using mean shift on 3D pose votes in the space of direct similarity transforms for the first time. We introduce a new distance between poses in this space-the SRT distance. It is left-invariant, unlike Euclidean distance, and has a unique, closed-form mean, in contrast to Riemannian distance, so is fast to compute. We demonstrate improved performance over the state of the art in both recognition and registration on a real and challenging dataset, by comparing our distance with others in a mean shift framework, as well as with the commonly used Hough voting approach.
We introduce a generalized representation for a boosted classifier with multiple exit nodes, and propose a method to training which combines the idea of propagating scores across boosted classifiers [14,17] and the use of asymmetric goals [13]. A means for determining the ideal constant asymmetric goal is provided, which is theoretically justified under a conservative bound on the ROC operating point target and empirically near-optimal under the exact bound. Moreover, our method automatically minimizes the number of weak classifiers, avoiding the need to retrain a boosted classifier multiple times for empirical best performance as in conventional methods. Experimental results shows significant reduction in training time and number of weak classifiers, as well as better accuracy, compared to conventional cascades and multi-exit boosted classifiers.
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