efficient 2d-to-3d correspondence filtering for scalable 3d object recognition 2014-10-07...
DESCRIPTION
Efficient 2D-to-3D Correspondence Filtering for Scalable 3D Object Recognition CVPRTRANSCRIPT
Efficient 2D-to-3D Correspondence Filtering for Scalable 3D Object
Recognition
2014-10-07Yeong-Jun Cho
Computer Vision and Pattern Recognition,2013
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Efficient 2D-to-3D Correspondence Filtering for Scalable 3D Object Recognition– Introduction– Methods– Results– Conclusion
Conclusion
Contents
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Efficient 2D-to-3D Correspondence Fil-tering
for Scalable 3D Object Recognition
CVPR 2013
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Introduction
Efficient 2D-to-3D Correspondence Filtering for Scalable 3D Object Recognition
• 2D-to-3D matching 을 통한 3D Object recognition
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Introduction
Efficient 2D-to-3D Correspondence Filtering for Scalable 3D Object Recognition
• Query Image 와 3D object models 과의 모든 correspondences 를 구함• 2D feature 로는 DAISY 사용 /
Searching 기법으로는 ANN(approximate nearest neighbor) 사용
InlierOutlierCorrespondences
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Introduction
Efficient 2D-to-3D Correspondence Filtering for Scalable 3D Object Recognition
• 모델별로 RANSAC 을 통해 최종 inlier 를 선별최초 matching 결과의 outlier 가 많으면 많은 RANSAC iteration 을 요구함 . ( 수행 시간 증가 )
뿐만 아니라 , RANSAC 정확도가 떨어져 recognition recall 이 떨어질 수 있음 . ( 인식 정확도 하락 )
InlierOutlierCorrespondences
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Introduction
Efficient 2D-to-3D Correspondence Filtering for Scalable 3D Object Recognition
• 따라서 , 최초 matching 시의 Outlier 를 빠르고 효과적으로 제거하는 기법을 제안 (Correspondence filtering)
▶ 수행속도 개선 , 인식 정확도 개선
InlierOutlier
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Introduction– 문제 정의 (outlier 종류 기술 )
Efficient 2D-to-3D Correspondence Filtering for Scalable 3D Object Recognition
• 배경과 matching
• 다른 model 과 matching
• 같은 model 과 matching 되었으나 ,올바르지 않은 위치에 matching
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Introduction– 문제 정의 (outlier 종류 기술 )
Efficient 2D-to-3D Correspondence Filtering for Scalable 3D Object Recognition
• 배경과 matching
• 다른 model 과 matching
• 같은 model 과 matching 되었으나 ,올바르지 않은 위치에 matching
Statistics & geometric cues 를 통한 outlier 제거
Global filtering
Local filtering
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Methods– Local filtering for removing
• Authors observed that are irregularly distrib-uted
Efficient 2D-to-3D Correspondence Filtering for Scalable 3D Object Recognition
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Methods– Local filtering for removing
• Authors observed that are irregularly distrib-uted
Efficient 2D-to-3D Correspondence Filtering for Scalable 3D Object Recognition
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Methods– Local filtering for removing
• Authors observed that are irregularly distrib-uted
• 2D local consistency check
Efficient 2D-to-3D Correspondence Filtering for Scalable 3D Object Recognition
scene
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Methods– Local filtering for removing
• Authors observed that are irregularly distrib-uted
• 2D local consistency check
Efficient 2D-to-3D Correspondence Filtering for Scalable 3D Object Recognition
scene
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Methods– Local filtering for removing
• Authors observed that are irregularly distrib-uted
• 2D-3D local consistency check
Efficient 2D-to-3D Correspondence Filtering for Scalable 3D Object Recognition
2D-3D local consistency check
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Methods– Global filtering for removing
Efficient 2D-to-3D Correspondence Filtering for Scalable 3D Object Recognition
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Methods
Efficient 2D-to-3D Correspondence Filtering for Scalable 3D Object Recognition
𝒒𝒊 𝒒 𝒋
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Methods
Efficient 2D-to-3D Correspondence Filtering for Scalable 3D Object Recognition
𝒒𝒊
𝒒 𝒋𝒑 𝒋
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Methods
Efficient 2D-to-3D Correspondence Filtering for Scalable 3D Object Recognition
𝒒𝒊
𝒒 𝒋𝒑 𝒋
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Methods
Efficient 2D-to-3D Correspondence Filtering for Scalable 3D Object Recognition
상대적으로 강한 연결이 되지 않은 vertex 는 로 판단하여 제거
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Experimental results
Efficient 2D-to-3D Correspondence Filtering for Scalable 3D Object Recognition
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Experimental results
Efficient 2D-to-3D Correspondence Filtering for Scalable 3D Object Recognition
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Conclusion
– 각 correspondence 분포를 고려한 Local filtering 과– Pairwise 한 위치 관계를 고려한 Global filtering 을 통한
outlier correspondences 제거
> 수행 속도 향상 및 인식 정확도 향상
Efficient 2D-to-3D Correspondence Filtering for Scalable 3D Object Recognition
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Q & A