Accurate camera localization is an essential part of tracking systems. However, localization results are greatly affected by illumination. Including data collected under various lighting conditions can improve the robustness of the localization algorithm to lighting variation. However, this is very tedious and time consuming. By using synthesized images it is possible to easily accumulate a large variety of views under varying illumination and weather conditions. Despite continuously improving processing power and rendering algorithms, synthesized images do not perfectly match real images of the same scene, i.e. there exists a gap between real and synthesized images that also affects the accuracy of camera localization. To reduce the impact of this gap, we introduce "REal-to-Synthetic Transform (REST)." REST is an autoencoder-like network that converts real features to their synthetic counterpart. The converted features can then be matched against the accumulated database for robust camera localization. In our experiments REST improved feature matching accuracy under variable lighting conditions by approximately 30 . Moreover, our system outperforms state of the art CNN-based camera localization methods trained with synthetic images. We believe our method could be used to initialize local tracking and to simplify data accumulation for lighting robust localization.
[id=TM] Illumination robust localization requires large image databases recorded at different times to ensure sufficient variability. While it is possible to generate these databases from synthetic images, these images differ from real images due to geometrical and optical differences of the real and virtual objects. While it is possible to adjust synthetic images so they similar to real images through the use of GAN, these also require large databases to ensure good conversion. We overcome this problem by converting only the relevant part of the image (feature descriptors). While the idea behind our method is similar to @cite_16 , we use a more simple approach and thus require far less image pairs to train our network. [id=AP] In this section, we explained that feature descriptors are sensitive to lighting variations, which causes that scene maps generated with SLAM cannot be reused. In addition, using synthetic images can solve dataset problem in DNNs. SimGAN @cite_16 can solve the gap problem, but it is not suitable to variable lighting problem because collecting real data under various lighting conditions is difficult.
@cite_16
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Visual SLAM (Simultaneous Localization and Mapping) methods typically rely on handcrafted visual features or raw RGB values for establishing correspondences between images. These features, while suitable for sparse mapping, often lead to ambiguous matches at texture-less regions when performing dense reconstruction due to the aperture problem. In this work, we explore the use of learned features for the matching task in dense monocular reconstruction. We propose a novel convolutional neural network (CNN) architecture along with a deeply supervised feature learning scheme for pixel-wise regression of visual descriptors from an image which are best suited for dense monocular SLAM. In particular, our learning scheme minimizes a multi-view matching cost-volume loss with respect to the regressed features at multiple stages within the network, for explicitly learning contextual features that are suitable for dense matching between images captured by a moving monocular camera along the epipolar line. We utilize the learned features from our model for depth estimation inside a real-time dense monocular SLAM framework, where photometric error is replaced by our learned descriptor error. Our evaluation on several challenging indoor scenes demonstrate greatly improved accuracy in dense reconstructions of the well celebrated dense SLAM systems like DTAM, without compromising their real-time performance. We propose in this paper a new approach to train the Generative Adversarial Nets (GANs) with a mixture of generators to overcome the mode collapsing problem. The main intuition is to employ multiple generators, instead of using a single one as in the original GAN. The idea is simple, yet proven to be extremely effective at covering diverse data modes, easily overcoming the mode collapsing problem and delivering state-of-the-art results. A minimax formulation was able to establish among a classifier, a discriminator, and a set of generators in a similar spirit with GAN. Generators create samples that are intended to come from the same distribution as the training data, whilst the discriminator determines whether samples are true data or generated by generators, and the classifier specifies which generator a sample comes from. The distinguishing feature is that internal samples are created from multiple generators, and then one of them will be randomly selected as final output similar to the mechanism of a probabilistic mixture model. We term our method Mixture Generative Adversarial Nets (MGAN). We develop theoretical analysis to prove that, at the equilibrium, the Jensen-Shannon divergence (JSD) between the mixture of generators’ distributions and the empirical data distribution is minimal, whilst the JSD among generators’ distributions is maximal, hence effectively avoiding the mode collapsing problem. By utilizing parameter sharing, our proposed model adds minimal computational cost to the standard GAN, and thus can also efficiently scale to large-scale datasets. We conduct extensive experiments on synthetic 2D data and natural image databases (CIFAR-10, STL-10 and ImageNet) to demonstrate the superior performance of our MGAN in achieving state-of-the-art Inception scores over latest baselines, generating diverse and appealing recognizable objects at different resolutions, and specializing in capturing different types of objects by the generators. We describe a novel approach to image based localisation in urban environments using semantic matching between images and a 2-D map. It contrasts with the vast majority of existing approaches which use image to image database matching. We use highly compact binary descriptors to represent semantic features at locations, significantly increasing scalability compared with existing methods and having the potential for greater invariance to variable imaging conditions. The approach is also more akin to human map reading, making it more suited to human-system interaction. The binary descriptors indicate the presence or not of semantic features relating to buildings and road junctions in discrete viewing directions. We use CNN classifiers to detect the features in images and match descriptor estimates with a database of location tagged descriptors derived from the 2-D map. In isolation, the descriptors are not sufficiently discriminative, but when concatenated sequentially along a route, their combination becomes highly distinctive and allows localisation even when using non-perfect classifiers. Performance is further improved by taking into account left or right turns over a route. Experimental results obtained using Google StreetView and OpenStreetMap data show that the approach has considerable potential, achieving localisation accuracy of around 85 using routes corresponding to approximately 200 meters. Hashing has been a widely-adopted technique for nearest neighbor search in large-scale image retrieval tasks. Recent research has shown that leveraging supervised information can lead to high quality hashing. However, the cost of annotating data is often an obstacle when applying supervised hashing to a new domain. Moreover, the results can suffer from the robustness problem as the data at training and test stage may come from different distributions. This paper studies the exploration of generating synthetic data through semi-supervised generative adversarial networks (GANs), which leverages largely unlabeled and limited labeled training data to produce highly compelling data with intrinsic invariance and global coherence, for better understanding statistical structures of natural data. We demonstrate that the above two limitations can be well mitigated by applying the synthetic data for hashing. Specifically, a novel deep semantic hashing with GANs (DSH-GANs) is presented, which mainly consists of four components: a deep convolution neural networks (CNN) for learning image representations, an adversary stream to distinguish synthetic images from real ones, a hash stream for encoding image representations to hash codes and a classification stream. The whole architecture is trained end-to-end by jointly optimizing three losses, i.e., adversarial loss to correct label of synthetic or real for each sample, triplet ranking loss to preserve the relative similarity ordering in the input real-synthetic triplets and classification loss to classify each sample accurately. Extensive experiments conducted on both CIFAR-10 and NUS-WIDE image benchmarks validate the capability of exploiting synthetic images for hashing. Our framework also achieves superior results when compared to state-of-the-art deep hash models.