We describe a hierarchical structure-from-motion pipeline.No information is needed beside images themselves.The pipeline proved successful in real-world tasks. This paper addresses the structure-and-motion problem, that requires to find camera motion and 3D structure from point matches. A new pipeline, dubbed Samantha, is presented, that departs from the prevailing sequential paradigm and embraces instead a hierarchical approach. This method has several advantages, like a provably lower computational complexity, which is necessary to achieve true scalability, and better error containment, leading to more stability and less drift. Moreover, a practical autocalibration procedure allows to process images without ancillary information. Experiments with real data assess the accuracy and the computational efficiency of the method.
Another relevant issue in is the level of generality, i.e., the number of assumption that are made concerning the input images, or, equivalently the amount of extra information that is required in addition to pixel values. Existing pipelines either assume known internal parameters @cite_17 @cite_15 @cite_44 @cite_49 @cite_13 @cite_69 @cite_55 , or constant internal parameters @cite_76 , or rely on EXIF data plus external information (camera CCD dimensions) @cite_41 @cite_47 . Methods working in large scale environments usually rely on a lot of additional information, such as camera calibration and GPS INS navigation systems @cite_58 @cite_0 or geotags @cite_68 .
@cite_69 @cite_47 @cite_41 @cite_55 @cite_58 @cite_44 @cite_0 @cite_68 @cite_49 @cite_15 @cite_76 @cite_13 @cite_17
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A novel dataset for benchmarking image-based localization is presented. With increasing research interests in visual place recognition and localization, several datasets have been published in the past few years. One of the evident limitations of existing datasets is that precise ground truth camera poses of query images are not available in a meaningful 3D metric system. This is in part due to the underlying 3D models of these datasets are reconstructed from Structure from Motion methods. So far little attention has been paid to metric evaluations of localization accuracy. In this paper we address the problem of whether state-of-the-art visual localization techniques can be applied to tasks with demanding accuracy requirements. We acquired training data for a large indoor environment with cameras and a LiDAR scanner. In addition, we collected over 2000 query images with cell phone cameras. Using LiDAR point clouds as a reference, we employed a semi-automatic approach to estimate the 6 degrees of freedom camera poses precisely in the world coordinate system. The proposed dataset enables us to quantitatively assess the performance of various algorithms using a fair and intuitive metric. In this paper we report on the context and evaluation of a system for an automatic interpretation of sightings of individual western lowland gorillas (Gorilla gorilla gorilla) as captured in facial field photography in the wild. This effort aligns with a growing need for effective and integrated monitoring approaches for assessing the status of biodiversity at high spatio-temporal scales. Manual field photography and the utilisation of autonomous camera traps have already transformed the way ecological surveys are conducted. In principle, many environments can now be monitored continuously, and with a higher spatio-temporal resolution than ever before. Yet, the manual effort required to process photographic data to derive relevant information delimits any large scale application of this methodology. The described system applies existing computer vision techniques including deep convolutional neural networks to cover the tasks of detection and localisation, as well as individual identification of gorillas in a practically relevant setup. We evaluate the approach on a relatively large and challenging data corpus of 12,765 field images of 147 individual gorillas with image-level labels (i.e. missing bounding boxes) photographed at Mbeli Bai at the Nouabal-Ndoki National Park, Republic of Congo. Results indicate a facial detection rate of 90.8 AP and an individual identification accuracy for ranking within the Top 5 set of 80.3 . We conclude that, whilst keeping the human in the loop is critical, this result is practically relevant as it exemplifies model transferability and has the potential to assist manual identification efforts. We argue further that there is significant need towards integrating computer vision deeper into ecological sampling methodologies and field practice to move the discipline forward and open up new research horizons. Across the field of inverse problems in image and video processing, nearly all algorithms have various parameters which need to be set in order to yield good results. In practice, usually the choice of such parameters is made empirically with trial and error if no “ground-truth” reference is available. Some analytical methods such as cross-validation and Stein's unbiased risk estimate (SURE) have been successfully used to set such parameters. However, these methods tend to be strongly reliant on restrictive assumptions on the noise, and also computationally heavy. In this paper, we propose a no-reference metric Q which is based upon singular value decomposition of local image gradient matrix, and provides a quantitative measure of true image content (i.e., sharpness and contrast as manifested in visually salient geometric features such as edges,) in the presence of noise and other disturbances. This measure 1) is easy to compute, 2) reacts reasonably to both blur and random noise, and 3) works well even when the noise is not Gaussian. The proposed measure is used to automatically and effectively set the parameters of two leading image denoising algorithms. Ample simulated and real data experiments support our claims. Furthermore, tests using the TID2008 database show that this measure correlates well with subjective quality evaluations for both blur and noise distortions. While existing face recognition systems based on local features are robust to issues such as misalignment, they can exhibit accuracy degradation when comparing images of differing resolutions. This is common in surveillance environments where a gallery of high resolution mugshots is compared to low resolution CCTV probe images, or where the size of a given image is not a reliable indicator of the underlying resolution (e.g. poor optics). To alleviate this degradation, we propose a compensation framework which dynamically chooses the most appropriate face recognition system for a given pair of image resolutions. This framework applies a novel resolution detection method which does not rely on the size of the input images, but instead exploits the sensitivity of local features to resolution using a probabilistic multi-region histogram approach. Experiments on a resolution-modified version of the "Labeled Faces in the Wild" dataset show that the proposed resolution detector frontend obtains a 99 average accuracy in selecting the most appropriate face recognition system, resulting in higher overall face discrimination accuracy (across several resolutions) compared to the individual baseline face recognition systems.