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 structural discrepancy between graphs, which can reduce the ambiguities brought by only using the extracted CNN features.
Moreover, we present a differentiable implementation to the quadratic constrained-optimization such that it is compatible with the unconstrained deep learning optimizer. To give more precise and proper supervision, a well-designed false matching loss against class imbalance is proposed, which can better penalize the false negatives and false positives with less overfitting. Exhaustive experiments demonstrate that our method competitive performance on real-world datasets.
Ensemble Quadratic Assignment Network for Graph Matching
Institute of Automation of Chinese Academy of Sciences（中国科学院自动化研究所）；National Laboratory of Pattern Recognition（模式识别国家重点实验室）；School of Artificial Intelligence, University of Chinese Academy of Sciences（中国科学院大学人工智能学院）
MPI Informatics（马克斯·普朗克信息学研究所）；Saarland Informatics Campus（萨尔兰信息学园区）；University of Siegen（锡根大学）
In this work we study convex relaxations of quadratic optimisation problems over permutation matrices. While existing semidefinite programming approaches can achieve remarkably tight relaxations, they have the strong disadvantage that they lift the original $n {\times} n$-dimensional variable to an $n^2 {\times} n^2$-dimensional variable, which limits their practical applicability. In contrast, here we present a lifting-free convex relaxation that is provably at least as tight as existing (lifting-free) convex relaxations. We demonstrate experimentally that our approach is superior to existing…
Graph matching involves combinatorial optimization based on edge-to-edge affinity matrix, which can be generally formulated as Lawler's Quadratic Assignment Problem (QAP). This paper presents a QAP network directly learning with the affinity matrix (equivalently the association graph) whereby the matching problem is translated into a constrained vertex classification task. The association graph is learned by an embedding network for vertex classification, followed by Sinkhorn normalization and a cross-entropy loss for end-to-end learning. We further improve the embedding model on association g…
NICTA（澳大利亚国家信息与通信技术研究院）；Australian National University（澳大利亚国立大学）；Stanford University（斯坦福大学）
As a fundamental problem in pattern recognition, graph matching has applications in a variety of fields, from computer vision to computational biology. In graph matching, patterns are modeled as graphs and pattern recognition amounts to finding a correspondence between the nodes of different graphs. Many formulations of this problem can be cast in general as a quadratic assignment problem, where a linear term in the objective function encodes node compatibility and a quadratic term encodes edge compatibility. The main research focus in this theme is about designing efficient algorithms for app…
Finding a template in a search image is one of the core problems many computer vision, such as semantic image semantic, image-to-GPS verification \etc. We propose a novel quality-aware template matching method, QATM, which is not only used as a standalone template matching algorithm, but also a trainable layer that can be easily embedded into any deep neural network. Specifically, we assess the quality of a matching pair using soft-ranking among all matching pairs, and thus different matching scenarios such as 1-to-1, 1-to-many, and many-to-many will be all reflected to different values. Our e…
Deep Matching (DM) is a popular high-quality method for quasi-dense image matching. Despite its name, however, the original DM formulation does not yield a deep neural network that can be trained end-to-end via backpropagation. In this paper, we remove this limitation by rewriting the complete DM algorithm as a convolutional neural network. This results in a novel deep architecture for image matching that involves a number of new layer types and that, similar to recent networks for image segmentation, has a U-topology. We demonstrate the utility of the approach by improving the performance of …
Many problems of interest in computer vision can be formulated as a problem of finding consistent correspondences between two feature sets. Feature correspondence (matching) problem with one-to-one mapping constraint is usually formulated as an Integral Quadratic Programming (IQP) problem with permutation (or orthogonal) constraint. Since it is NP-hard, relaxation models are required. One main challenge for optimizing IQP matching problem is how to incorporate the discrete one-to-one mapping (permutation) constraint in its quadratic objective optimization. In this paper, we present a new relax…
Aristotle University of Thessaloniki（塞萨洛尼基亚里士多德大学）
In this paper, regularized lightweight deep convolutional neural network models, capable of effectively operating in real-time on devices with restricted computational power for high-resolution video input are proposed. Furthermore, a novel regularization method motivated by the Quadratic Mutual Information, in order to improve the generalization ability of the utilized models is proposed. Extensive experiments on various binary classification problems involved in autonomous systems are performed, indicating the effectiveness of the proposed models as well as of the proposed regularizer.
Aristotle University of Thessaloniki（塞萨洛尼基亚里士多德大学）
Several deep supervised hashing techniques have been proposed to allow for efficiently querying large image databases. However, deep supervised image hashing techniques are developed, to a great extent, heuristically often leading to suboptimal results. Contrary to this, we propose an efficient deep supervised hashing algorithm that optimizes the learned codes using an information-theoretic measure, the Quadratic Mutual Information (QMI). The proposed method is adapted to the needs of large-scale hashing and information retrieval leading to a novel information-theoretic measure, the Quadratic …
China Academy of Railway Sciences Corporation Limited（中国铁道科学研究院集团有限公司）；National University of Singapore（新加坡国立大学）
Matching the rail cross-section profiles measured on site with the designed profile is a must to evaluate the wear of the rail, which is very important for track maintenance and rail safety. So far, the measured rail profiles to be matched usually have four features, that is, large amount of data, diverse section shapes, hardware made errors, and human experience needs to be introduced to solve the complex situation on site during matching process. However, traditional matching methods based on feature points or feature lines could no longer meet the requirements. To this end, we first establi…
Most previous learning-based graph matching algorithms solve the \textit{quadratic assignment problem} (QAP) by dropping one or more of the matching constraints and adopting a relaxed assignment solver to obtain sub-optimal correspondences. Such relaxation may actually weaken the original graph matching problem, and in turn hurt the matching performance. In this paper we propose a deep learning-based graph matching framework that works for the original QAP without compromising on the matching constraints. In particular, we design an affinity-assignment prediction network to jointly learn the p…
The University of Tokyo（东京大学）；National Institute of Advanced Industrial Science and Technology (AIST)（产业技术综合研究所）
This paper describes a viewpoint-robust object-based change detection network (OBJ-CDNet). Mobile cameras such as drive recorders capture images from different viewpoints each time due to differences in camera trajectory and shutter timing. However, previous methods for pixel-wise change detection are vulnerable to the viewpoint differences because they assume aligned image pairs as inputs. To cope with the difficulty, we introduce a deep graph matching network that establishes object correspondence between an image pair. The introduction enables us to detect object-wise scene changes without …
In the field of deep-sea exploration, sonar is presently the only efficient long-distance sensing device. The complicated underwater environment, such as noise interference, low target intensity or background dynamics, has brought many negative effects on sonar imaging. Among them, the problem of nonlinear intensity is extremely prevalent. It is also known as the anisotropy of acoustic sensor imaging, that is, when autonomous underwater vehicles (AUVs) carry sonar to detect the same target from different angles, the intensity variation between image pairs is sometimes very large, which makes t…
Decomposed Global Optimization for Robust Point Matching with Low-Dimensional Branching
Department of Computer Science, Changzhi University, Changzhi, Shanxi, China, 046011（计算机科学系，长治大学）；School of Computer Science and Technology, Harbin Institute of Technology, Harbin 150001, China（计算机科学与技术学院，哈尔滨工业大学）
Beijing Electronic Science and Technology Institute（北京电子科技学院）；University of Science and Technology Beijing（北京科技大学）
Copy-move forgery detection identifies a tampered image by detecting pasted and source regions in the same image. In this paper, we propose a novel two-stage framework specially for copy-move forgery detection. The first stage is a backbone self deep matching network, and the second stage is named as Proposal SuperGlue. In the first stage, atrous convolution and skip matching are incorporated to enrich spatial information and leverage hierarchical features. Spatial attention is built on self-correlation to reinforce the ability to find appearance similar regions. In the second stage, Proposal …
IIIT-Delhi（印度德里信息技术学院）；West Virginia University（西弗吉尼亚大学）
Face sketch to digital image matching is an important challenge of face recognition that involves matching across different domains. Current research efforts have primarily focused on extracting domain invariant representations or learning a mapping from one domain to the other. In this research, we propose a novel transform learning based approach termed as DeepTransformer, which learns a transformation and mapping function between the features of two domains. The proposed formulation is independent of the input information and can be applied with any existing learned or hand-crafted feature.…
Harbin Institute of Technology（哈尔滨工业大学）；SenseTime Group Inc.（商汤集团有限公司）
Local feature matching between images remains a challenging task, especially in the presence of significant appearance variations, e.g., extreme viewpoint changes. In this work, we propose DeepMatcher, a deep Transformer-based network built upon our investigation of local feature matching in detector-free methods. The key insight is that local feature matcher with deep layers can capture more human-intuitive and simpler-to-match features. Based on this, we propose a Slimming Transformer (SlimFormer) dedicated for DeepMatcher, which leverages vector-based attention to model relevance among all …
A novel image matching method is proposed that utilizes learned features extracted by an off-the-shelf deep neural network to obtain a promising performance. The proposed method uses pre-trained VGG architecture as a feature extractor and does not require any additional training specific to improve matching. Inspired by well-established concepts in the psychology area, such as the Mental Rotation paradigm, an initial warping is performed as a result of a preliminary geometric transformation estimate. These estimates are simply based on dense matching of nearest neighbors at the terminal layer …
University of Siegen（锡根大学）；Max Planck Institute for Informatics（马克斯·普朗克信息学研究所）
Matching problems on 3D shapes and images are challenging as they are frequently formulated as combinatorial quadratic assignment problems (QAPs) with permutation matrix constraints, which are NP-hard. In this work, we address such problems with emerging quantum computing technology and propose several reformulations of QAPs as unconstrained problems suitable for efficient execution on quantum hardware. We investigate several ways to inject permutation matrix constraints in a quadratic unconstrained binary optimization problem which can be mapped to quantum hardware. We focus on obtaining a su…
Towards Efficient Deep Hashing Retrieval: Condensing Your Data via Feature-Embedding Matching
College of Information Science and Technology, Donghua University（东华大学信息科学与技术学院）；ETH Zurich（苏黎世联邦理工学院）；College of Electrical Engineering, Zhejiang University（浙江大学电气工程学院）
Graph matching refers to finding node correspondence between graphs, such that the corresponding node and edge's affinity can be maximized. In addition with its NP-completeness nature, another important challenge is effective modeling of the node-wise and structure-wise affinity across graphs and the resulting objective, to guide the matching procedure effectively finding the true matching against noises. To this end, this paper devises an end-to-end differentiable deep network pipeline to learn the affinity for graph matching. It involves a supervised permutation loss regarding with node corr…
Aerial image registration or matching is a geometric process of aligning two aerial images captured in different environments. Estimating the precise transformation parameters is hindered by various environments such as time, weather, and viewpoints. The characteristics of the aerial images are mainly composed of a straight line owing to building and road. Therefore, the straight lines are distorted when estimating homography parameters directly between two images. In this paper, we propose a deep homography alignment network to precisely match two aerial images by progressively estimating the…
State-of-the-art deep learning based stereo matching approaches treat disparity estimation as a regression problem, where loss function is directly defined on true disparities and their estimated ones. However, disparity is just a byproduct of a matching process modeled by cost volume, while indirectly learning cost volume driven by disparity regression is prone to overfitting since the cost volume is under constrained. In this paper, we propose to directly add constraints to the cost volume by filtering cost volume with unimodal distribution peaked at true disparities. In addition, variances …
Conventional techniques to establish dense correspondences across visually or semantically similar images focused on designing a task-specific matching prior, which is difficult to model. To overcome this, recent learning-based methods have attempted to learn a good matching prior within a model itself on large training data. The performance improvement was apparent, but the need for sufficient training data and intensive learning hinders their applicability. Moreover, using the fixed model at test time does not account for the fact that a pair of images may require their own prior, thus provi…
University of California Irvine（加州大学欧文分校）；Carnegie Mellon University（卡内基梅隆大学）
We investigate the problem of automatically determining what type of shoe left an impression found at a crime scene. This recognition problem is made difficult by the variability in types of crime scene evidence (ranging from traces of dust or oil on hard surfaces to impressions made in soil) and the lack of comprehensive databases of shoe outsole tread patterns. We find that mid-level features extracted by pre-trained convolutional neural nets are surprisingly effective descriptors for this specialized domains. However, the choice of similarity measure for matching exemplars to a query image …
Beijing Institute of Technology（北京理工大学）；Kandao Australia Research Center（看到科技澳大利亚研究中心）
Deep neural networks have shown excellent performance for stereo matching. Many efforts focus on the feature extraction and similarity measurement of the matching cost computation step while less attention is paid on cost aggregation which is crucial for stereo matching. In this paper, we present a learning-based cost aggregation method for stereo matching by a novel sub-architecture in the end-to-end trainable pipeline. We reformulate the cost aggregation as a learning process of the generation and selection of cost aggregation proposals which indicate the possible cost aggregation results. T…
Faculty of Engineering, Monash University（莫纳什大学工程学院）；Australian National University（澳大利亚国立大学）；ACRV；Data61, CSIRO（数据61，澳大利亚联邦科学与工业研究组织）；Northwestern Polytechnical University（西北工业大学）；eResearch Centre, Monash University（莫纳什大学电子研究中心）；Airdoc Research Australia（Airdoc澳大利亚研究中心）
To reduce the human efforts in neural network design, Neural Architecture Search (NAS) has been applied with remarkable success to various high-level vision tasks such as classification and semantic segmentation. The underlying idea for the NAS algorithm is straightforward, namely, to enable the network the ability to choose among a set of operations (e.g., convolution with different filter sizes), one is able to find an optimal architecture that is better adapted to the problem at hand. However, so far the success of NAS has not been enjoyed by low-level geometric vision tasks such as stereo …
Establishing correspondences is a fundamental task in variety of image processing and computer vision applications. In particular, finding the correspondences between a non-linearly deformed image pair induced by different modality conditions is a challenging problem. This paper describes a efficient but powerful image transform called local area transform (LAT) for modality-robust correspondence estimation. Specifically, LAT transforms an image from the intensity domain to the local area domain, which is invariant under nonlinear intensity deformations, especially radiometric, photometric, an…
Lahore University of Management Sciences（拉合尔管理科学大学）
The advent of deep perceptual networks brought about a paradigm shift in machine vision and image perception. Image apprehension lately carried out by hand-crafted features in the latent space have been replaced by deep features acquired from supervised networks for improved understanding. However, such deep networks require strict supervision with a substantial amount of the labeled data for authentic training process. These methods perform poorly in domains lacking labeled data especially in case of remote sensing image retrieval. Resolving this, we propose an unsupervised encoder-decoder fe…
We cast shape matching as metric learning with convolutional networks. We break the end-to-end process of image representation into two parts. Firstly, well established efficient methods are chosen to turn the images into edge maps. Secondly, the network is trained with edge maps of landmark images, which are automatically obtained by a structure-from-motion pipeline. The learned representation is evaluated on a range of different tasks, providing improvements on challenging cases of domain generalization, generic sketch-based image retrieval or its fine-grained counterpart. In contrast to oth…
Technion - Israel Institute of Technology（以色列理工学院）
Stereo reconstruction from rectified images has recently been revisited within the context of deep learning. Using a deep Convolutional Neural Network to obtain patch-wise matching cost volumes has resulted in state of the art stereo reconstruction on classic datasets like Middlebury and Kitti. By introducing this cost into a classical stereo pipeline, the final results are improved dramatically over non-learning based cost models. However these pipelines typically include hand engineered post processing steps to effectively regularize and clean the result. Here, we show that it is possible to…
Motivated by the need to identify erroneous disparity assignments, various approaches for uncertainty and confidence estimation of dense stereo matching have been presented in recent years. As in many other fields, especially deep learning based methods have shown convincing results. However, most of these methods only model the uncertainty contained in the data, while ignoring the uncertainty of the employed dense stereo matching procedure. Additionally modelling the latter, however, is particularly beneficial if the domain of the training data varies from that of the data to be processed. Fo…
University of Siegen（锡根大学）；MPI for Informatics, SIC（马克斯·普朗克信息学研究所，SIC）
Finding shape correspondences can be formulated as an NP-hard quadratic assignment problem (QAP) that becomes infeasible for shapes with high sampling density. A promising research direction is to tackle such quadratic optimization problems over binary variables with quantum annealing, which allows for some problems a more efficient search in the solution space. Unfortunately, enforcing the linear equality constraints in QAPs via a penalty significantly limits the success probability of such methods on currently available quantum hardware. To address this limitation, this paper proposes Q-Matc…
We study the quadratic assignment problem, in computer vision also known as graph matching. Two leading solvers for this problem optimize the Lagrange decomposition duals with sub-gradient and dual ascent (also known as message passing) updates. We explore s direction further and propose several additional Lagrangean relaxations of the graph matching problem along with corresponding algorithms, which are all based on a common dual ascent framework. Our extensive empirical evaluation gives several theoretical insights and suggests a new state-of-the-art any-time solver for the considered proble…
Monash University（莫纳什大学）；SenseTime Research（商汤科技研究院）；Shanghai AI Laboratory（上海人工智能实验室）；Data61, CSIRO（澳大利亚联邦科学与工业研究组织Data61）；University of Melbourne（墨尔本大学）；The University of Sydney（悉尼大学）；Monash-Airdoc Research Centre（莫纳什-鹰瞳研究中心）
The self-attention mechanism, successfully employed with the transformer structure is shown promise in many computer vision tasks including image recognition, and object detection. Despite the surge, the use of the transformer for the problem of stereo matching remains relatively unexplored. In this paper, we comprehensively investigate the use of the transformer for the problem of stereo matching, especially for laparoscopic videos, and propose a new hybrid deep stereo matching framework (HybridStereoNet) that combines the best of the CNN and the transformer in a unified design. To be specifi…
Deep learning (DL) methods are widely investigated for stereo image matching tasks due to their reported high accuracies. However, their transferability/generalization capabilities are limited by the instances seen in the training data. With satellite images covering large-scale areas with variances in locations, content, land covers, and spatial patterns, we expect their performances to be impacted. Increasing the number and diversity of training data is always an option, but with the ground-truth disparity being limited in remote sensing due to its high cost, it is almost impossible to obtai…
We propose a real-time image matching framework, which is hybrid in the sense that it uses both hand-crafted features and deep features obtained from a well-tuned deep convolutional network. The matching problem, which we concentrate on, is specific to a certain application, that is, printing design to product photo matching. Printing designs are any kind of template image files, created using a design tool, thus are perfect image signals. However, photographs of a printed product suffer many unwanted effects, such as uncontrolled shooting angle, uncontrolled illumination, occlusions, printing…
DeepShapeMatchingKit: Accelerated Functional Map Solver and Shape Matching Pipelines Revisited
Technical University of Munich（慕尼黑工业大学）；Munich Center for Machine Learning（慕尼黑机器学习中心）；MIT（麻省理工学院）；Adobe；Imperial College London（帝国理工学院）；Simon Fraser University（西蒙菲莎大学）
Australian National University（澳大利亚国立大学）；Australian Centre for Robotic Vision（澳大利亚机器人视觉中心）；Data61 CSIRO（联邦科学与工业研究组织Data61）；Northwestern Polytechnical University（西北工业大学）
Deep Learning based stereo matching methods have shown great successes and achieved top scores across different benchmarks. However, like most data-driven methods, existing deep stereo matching networks suffer from some well-known drawbacks such as requiring large amount of labeled training data, and that their performances are fundamentally limited by the generalization ability. In this paper, we propose a novel Recurrent Neural Network (RNN) that takes a continuous (possibly previously unseen) stereo video as input, and directly predicts a depth-map at each frame without a pre-training proce…
Template matching by normalized cross correlation (NCC) is widely used for finding image correspondences. We improve the robustness of this algorithm by preprocessing images with "siamese" convolutional networks trained to maximize the contrast between NCC values of true and false matches. The improvement is quantified using patches of brain images from serial section electron microscopy. Relative to a parameter-tuned bandpass filter, siamese convolutional networks significantly reduce false matches. Furthermore, all false matches can be eliminated by removing a tiny fraction of all matches ba…
The Chinese University of Hong Kong（香港中文大学）；SenseTime Research（商汤科技研究院）
Person re-identification aims to robustly measure similarities between person images. The significant variation of person poses and viewing angles challenges for accurate person re-identification. The spatial layout and correspondences between query person images are vital information for tackling this problem but are ignored by most state-of-the-art methods. In this paper, we propose a novel Kronecker Product Matching module to match feature maps of different persons in an end-to-end trainable deep neural network. A novel feature soft warping scheme is designed for aligning the feature maps b…
Among all biometric, dorsal hand vein pattern is attracting the attention of researchers, of late. Extensive research is being carried out on various techniques in the hope of finding an efficient one which can be applied on dorsal hand vein pattern to improve its accuracy and matching time. One of the crucial step in biometric is the extraction of features. In this paper, we propose a method based on quadratic inference function to the dorsal hand vein features to extract its features. The biometric system developed was tested on a database of 100 images. The false acceptance rate (FAR), fals…
University of Washington（华盛顿大学）；Tsinghua University（清华大学）；BNRist（北京信息科学与技术国家研究中心）；NVIDIA（英伟达）
Estimating the 6D pose of objects from images is an important problem in various applications such as robot manipulation and virtual reality. While direct regression of images to object poses has limited accuracy, matching rendered images of an object against the observed image can produce accurate results. In this work, we propose a novel deep neural network for 6D pose matching named DeepIM. Given an initial pose estimation, our network is able to iteratively refine the pose by matching the rendered image against the observed image. The network is trained to predict a relative pose transform…
We consider the problem of exact and inexact matching of weighted undirected graphs, in which a bijective correspondence is sought to minimize a quadratic weight disagreement. This computationally challenging problem is often relaxed as a convex quadratic program, in which the space of permutations is replaced by the space of doubly-stochastic matrices. However, the applicability of such a relaxation is poorly understood. We define a broad class of friendly graphs characterized by an easily verifiable spectral property. We prove that for friendly graphs, the convex relaxation is guaranteed to …
Centre for Computational Biology（计算生物学中心）；Centre for Mathematical Morphology（数学形态学中心）；Mines ParisTech（巴黎高等矿业学院）；Institut Curie（居里研究所）；INSERM（法国国家健康与医学研究院）；INRIA（法国国家信息与自动化研究所）；Laboratoire d’Informatique de l’Ecole Normale Supérieure（巴黎高等师范学院计算机实验室）；CNRS（法国国家科学研究中心）；ENS（巴黎高等师范学院）
We propose a convex-concave programming approach for the labeled weighted graph matching problem. The convex-concave programming formulation is obtained by rewriting the weighted graph matching problem as a least-square problem on the set of permutation matrices and relaxing it to two different optimization problems: a quadratic convex and a quadratic concave optimization problem on the set of doubly stochastic matrices. The concave relaxation has the same global minimum as the initial graph matching problem, but the search for its global minimum is also a hard combinatorial problem. We theref…
École Polytechnique Fédérale de Lausanne（洛桑联邦理工学院）；Idiap Research Institute（Idiap 研究所）
End-to-end deep-learning networks recently demonstrated extremely good perfor- mance for stereo matching. However, existing networks are difficult to use for practical applications since (1) they are memory-hungry and unable to process even modest-size images, (2) they have to be trained for a given disparity range. The Practical Deep Stereo (PDS) network that we propose addresses both issues: First, its architecture relies on novel bottleneck modules that drastically reduce the memory footprint in inference, and additional design choices allow to handle greater image size during training. Thi…
University of Bonn（波恩大学）；Technical University of Munich（慕尼黑工业大学）
3D shape matching is a long-standing problem in computer vision and computer graphics. While deep neural networks were shown to lead to state-of-the-art results in shape matching, existing learning-based approaches are limited in the context of multi-shape matching: (i) either they focus on matching pairs of shapes only and thus suffer from cycle-inconsistent multi-matchings, or (ii) they require an explicit template shape to address the matching of a collection of shapes. In this paper, we present a novel approach for deep multi-shape matching that ensures cycle-consistent multi-matchings whi…
Matching sonar images with high accuracy has been a problem for a long time, as sonar images are inherently hard to model due to reflections, noise and viewpoint dependence. Autonomous Underwater Vehicles require good sonar image matching capabilities for tasks such as tracking, simultaneous localization and mapping (SLAM) and some cases of object detection/recognition. We propose the use of Convolutional Neural Networks (CNN) to learn a matching function that can be trained from labeled sonar data, after pre-processing to generate matching and non-matching pairs. In a dataset of 39K training …
University of Twente（特文特大学）；Wright State University（莱特州立大学）
LiDAR odometry is a fundamental task for various areas such as robotics, autonomous driving. This problem is difficult since it requires the systems to be highly robust running in noisy real-world data. Existing methods are mostly local iterative methods. Feature-based global registration methods are not preferred since extracting accurate matching pairs in the nonuniform and sparse LiDAR data remains challenging. In this paper, we present Deep Matching LiDAR Odometry (DMLO), a novel learning-based framework which makes the feature matching method applicable to LiDAR odometry task. Unlike many…
Shanghai Jiao Tong University（上海交通大学）；Shanghai AI Laboratory（上海人工智能实验室）；Nanjing University（南京大学）；Shanghai University of Finance and Economics（上海财经大学）；Huawei（华为技术有限公司）
Graph matching (GM) has been a building block in various areas including computer vision and pattern recognition. Despite recent impressive progress, existing deep GM methods often have obvious difficulty in handling outliers, which are ubiquitous in practice. We propose a deep reinforcement learning based approach RGM, whose sequential node matching scheme naturally fits the strategy for selective inlier matching against outliers. A revocable action framework is devised to improve the agent's flexibility against the complex constrained GM. Moreover, we propose a quadratic approximation techni…
Deep graph matching meets mixed-integer linear programming: Relax at your own risk ?
Guilin University of Electronic Technology（桂林电子科技大学）；Université de Tours（图尔大学）；Laboratoire d’Informatique Fondamentale et Appliquée de Tours (LIFAT - EA 6300)（图尔基础与应用计算机实验室（LIFAT - EA 6300））
