We consider the problem of simultaneously estimating a dense depth map and camera pose for a large set of images of an indoor scene. While classical SfM pipelines rely on a two-step approach where cameras are first estimated using a bundle adjustment in order to ground the ensuing multi-view stereo stage, both our poses and dense reconstructions are a direct output of an altered bundle adjuster. To this end, we parametrize each depth map with a linear combination of a limited number of basis "depth-planes" predicted in a monocular fashion by a deep net. Using a set of high-quality sparse keypoint matches, we optimize over the per-frame linear combinations of depth planes and camera poses to form a geometrically consistent cloud of keypoints. Although our bundle adjustment only considers sparse keypoints, the inferred linear coefficients of the basis planes immediately give us dense depth maps. RidgeSfM is able to collectively align hundreds of frames, which is its main advantage over recent memory-heavy deep alternatives that can align at most 10 frames. Quantitative comparisons reveal performance superior to a state-of-the-art large-scale SfM pipeline.
The University of Adelaide（阿德莱德大学）；University of Potsdam（波茨坦大学）
A popular paradigm for 3D point cloud registration is by extracting 3D keypoint correspondences, then estimating the registration function from the correspondences using a robust algorithm. However, many existing 3D keypoint techniques tend to produce large proportions of erroneous correspondences or outliers, which significantly increases the cost of robust estimation. An alternative approach is to directly search for the subset of correspondences that are pairwise consistent, without optimising the registration function. This gives rise to the combinatorial problem of matching with pairwise …
Technical University of Munich（慕尼黑工业大学）；The Hong Kong Polytechnic University（香港理工大学）；Tongji University（同济大学）
Registration is a fundamental but critical task in point cloud processing, which usually depends on finding element correspondence from two point clouds. However, the finding of reliable correspondence relies on establishing a robust and discriminative description of elements and the correct matching of corresponding elements. In this letter, we develop a coarse-to-fine registration strategy, which utilizes rotation-invariant features and a new weighted graph matching method for iteratively finding correspondence. In the graph matching method, the similarity of nodes and edges in Euclidean and…
National Laboratory of Pattern Recognition（模式识别国家重点实验室）；Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）
Effective image and sentence matching depends on how to well measure their global visual-semantic similarity. Based on the observation that such a global similarity arises from a complex aggregation of multiple local similarities between pairwise instances of image (objects) and sentence (words), we propose a selective multimodal Long Short-Term Memory network (sm-LSTM) for instance-aware image and sentence matching. The sm-LSTM includes a multimodal context-modulated attention scheme at each timestep that can selectively attend to a pair of instances of image and sentence, by predicting pairw…
Computer Vision Center（计算机视觉中心）；Universitat Autònoma de Barcelona（巴塞罗那自治大学）；University of Bern（伯尔尼大学）；Indian Statistical Institute（印度统计研究所）
Many algorithms formulate graph matching as an optimization of an objective function of pairwise quantification of nodes and edges of two graphs to be matched. Pairwise measurements usually consider local attributes but disregard contextual information involved in graph structures. We address this issue by proposing contextual similarities between pairs of nodes. This is done by considering the tensor product graph (TPG) of two graphs to be matched, where each node is an ordered pair of nodes of the operand graphs. Contextual similarities between a pair of nodes are computed by accumulating we…
In this paper, we propose a coarse-to-fine integration solution inspired by the classical ICP algorithm, to pairwise 3D point cloud registration with two improvements of hybrid metric spaces (eg, BSC feature and Euclidean geometry spaces) and globally optimal correspondences matching. First, we detect the keypoints of point clouds and use the Binary Shape Context (BSC) descriptor to encode their local features. Then, we formulate the correspondence matching task as an energy function, which models the global similarity of keypoints on the hybrid spaces of BSC feature and Euclidean geometry. Ne…
Wuhan University（武汉大学）；Huazhong University of Science and Technology（华中科技大学）
Recently, many graph matching methods that incorporate pairwise constraint and that can be formulated as a quadratic assignment problem (QAP) have been proposed. Although these methods demonstrate promising results for the graph matching problem, they have high complexity in space or time. In this paper, we introduce an adaptively transforming graph matching (ATGM) method from the perspective of functional representation. More precisely, under a transformation formulation, we aim to match two graphs by minimizing the discrepancy between the original graph and the transformed graph. With a line…
Wuhan University（武汉大学）；South China University of Technology（华南理工大学）
Recently, deep learning based methods have demonstrated promising results on the graph matching problem, by relying on the descriptive capability of deep features extracted on graph nodes. However, one main limitation with existing deep graph matching (DGM) methods lies in their ignorance of explicit constraint of graph structures, which may lead the model to be trapped into local minimum in training. In this paper, we propose to explicitly formulate pairwise graph structures as a \textbf{quadratic constraint} incorporated into the DGM framework. The quadratic constraint minimizes the pairwise…
Tsinghua University（清华大学）；China Academy of Electronics and Information Technology（中国电子科技集团公司电子科学研究院）；Queen Mary University of London（伦敦玛丽女王大学）；The Hong Kong Polytechnic University（香港理工大学）
Most existing person re-identification (ReID) methods rely only on the spatial appearance information from either one or multiple person images, whilst ignore the space-time cues readily available in video or image-sequence data. Moreover, they often assume the availability of exhaustively labelled cross-view pairwise data for every camera pair, making them non-scalable to ReID applications in real-world large scale camera networks. In this work, we introduce a novel video based person ReID method capable of accurately matching people across views from arbitrary unaligned image-sequences witho…
Max Planck Institute for Informatics（马克斯·普朗克信息学研究所）
In [1], we proposed a graph-based formulation that links and clusters person hypotheses over time by solving a minimum cost subgraph multicut problem. In this paper, we modify and extend [1] in three ways: 1) We introduce a novel local pairwise feature based on local appearance matching that is robust to partial occlusion and camera motion. 2) We perform extensive experiments to compare different pairwise potentials and to analyze the robustness of the tracking formulation. 3) We consider a plain multicut problem and remove outlying clusters from its solution. This allows us to employ an effic…
In this work we study permutation synchronisation for the challenging case of partial permutations, which plays an important role for the problem of matching multiple objects (e.g. images or shapes). The term synchronisation refers to the property that the set of pairwise matchings is cycle-consistent, i.e. in the full matching case all compositions of pairwise matchings over cycles must be equal to the identity. Motivated by clustering and matrix factorisation perspectives of cycle-consistency, we derive an algorithm to tackle the permutation synchronisation problem based on non-negative fact…
Person re-identification is the task of matching pedestrian images across non-overlapping cameras. In this paper, we propose a non-linear cross-view similarity metric learning for handling small size training data in practical re-ID systems. The method employs non-linear mappings combined with cross-view discriminative subspace learning and cross-view distance metric learning based on pairwise similarity constraints. It is a natural extension of XQDA from linear to non-linear mappings using kernels, and learns non-linear transformations for efficiently handling complex non-linearity of person …
Xiamen University（厦门大学）；Louisiana State University（路易斯安那州立大学）
This paper proposes a novel algorithm to reassemble an arbitrarily shredded image to its original status. Existing reassembly pipelines commonly consist of a local matching stage and a global compositions stage. In the local stage, a key challenge in fragment reassembly is to reliably compute and identify correct pairwise matching, for which most existing algorithms use handcrafted features, and hence, cannot reliably handle complicated puzzles. We build a deep convolutional neural network to detect the compatibility of a pairwise stitching, and use it to prune computed pairwise matches. To im…
Hangzhou Dianzi University（杭州电子科技大学）；Baidu Inc.（百度公司）；Zhejiang International Studies University（浙江外国语学院）
This paper proposes an approach to Dense Video Captioning (DVC) without pairwise event-sentence annotation. First, we adopt the knowledge distilled from relevant and well solved tasks to generate high-quality event proposals. Then we incorporate contrastive loss and cycle-consistency loss typically applied to cross-modal retrieval tasks to build semantic matching between the proposals and sentences, which are eventually used to train the caption generation module. In addition, the parameters of matching module are initialized via pre-training based on annotated images to improve the matching p…
We propose a new method for estimating the relative pose between two images, where we jointly learn keypoint detection, description extraction, matching and robust pose estimation. While our architecture follows the traditional pipeline for pose estimation from geometric computer vision, all steps are learnt in an end-to-end fashion, including feature matching. We demonstrate our method for the task of visual localization of a query image within a database of images with known pose. Pairwise pose estimation has many practical applications for robotic mapping, navigation, and AR. For example, t…
ShanghaiTech University（上海科技大学）；Institute of Computing Technology, Chinese Academy of Sciences（中国科学院计算技术研究所）；Plex-VR Inc.（Plex-VR 公司）；Microsoft Research（微软研究院）；University of Delaware（特拉华大学）
In this paper, we describe how scene depth can be extracted using a hyperspectral light field capture (H-LF) system. Our H-LF system consists of a 5 x 6 array of cameras, with each camera sampling a different narrow band in the visible spectrum. There are two parts to extracting scene depth. The first part is our novel cross-spectral pairwise matching technique, which involves a new spectral-invariant feature descriptor and its companion matching metric we call bidirectional weighted normalized cross correlation (BWNCC). The second part, namely, H-LF stereo matching, uses a combination of spec…
