Critical to the registration of point clouds is the establishment of a set of accurate correspondences between points in 3D space. The correspondence problem is generally addressed by the design of discriminative 3D local descriptors on the one hand, and the development of robust matching strategies on the other hand. In this work, we first propose a multi-view local descriptor, which is learned from the images of multiple views, for the description of 3D keypoints. Then, we develop a robust matching approach, aiming at rejecting outlier matches based on the efficient inference via belief propagation on the defined graphical model. We have demonstrated the boost of our approaches to registration on the public scanning and multi-view stereo datasets. The superior performance has been verified by the intensive comparisons against a variety of descriptors and matching methods.
The multi-view fusion technique is used to integrate information from multiple views into a single representation. It has been widely proved by the literature that the technique effectively boosts the performance of instance-level detection @cite_48 , recognition @cite_52 @cite_18 and classification @cite_36 compared with a single view. Su al @cite_48 first propose a probabilistic representation of a 3D-object class model for the scenario where an object is positioned at the center of a dense viewing sphere. A more general strategy of multi-view fusion is @cite_52 @cite_18 @cite_36 @cite_39 , which aggregates the feature maps of multiple views via element-wise maximum operation.
@cite_18 @cite_36 @cite_48 @cite_52 @cite_39
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In this paper, we introduce a novel fusion method that can enhance object detection performance by fusing decisions from two different types of computer vision tasks: object detection and image classification. In the proposed work, the class label of an image obtained from image classification is viewed as prior knowledge about existence or non-existence of certain objects. The prior knowledge is then fused with the decisions of object detection to improve detection accuracy by mitigating false positives of an object detector that are strongly contradicted with the prior knowledge. A recently introduced novel fusion approach called dynamic belief fusion (DBF) is used to fuse the detector output with the classification prior. Experimental results show that the detection performance of all the detection algorithms used in the proposed work is improved on benchmark datasets via the proposed fusion framework. A novel multi-focus image fusion approach using coupled dictionary training is proposed. It exploits the facts that (i) the patches in example data can be sparsely represented by a couple of over-complete dictionaries related to the focused and blurred categories of images and (ii) merging such representations is better than just selecting the sparsest one in the estimate of the original image. Inspired by these observations, we enforce the similarity of sparse representations between the focused and blurred image patches by jointly training the coupled dictionary, and then fuse these representations to generate an all-in-focus image by a fusion rule. The key characteristics of our approach are bridging the gap between coupled dictionaries, combining plain averaging and "choose-max" as an appropriate fusion rule, and forming a more accurate representation, compared to existing approaches which simply admit sparse representation over one dictionary. Extensive experimental comparisons with state-of-the-art multi-focus image fusion algorithms validate the effectiveness of the proposed approach. Multi-focus image fusion has emerged as a major topic in image processing to generate all-focus images with increased depth-of-field from multi-focus photographs. Different approaches have been used in spatial or transform domain for this purpose. But most of them are subject to one or more of image fusion quality degradations such as blocking artifacts, ringing effects, artificial edges, halo artifacts, contrast decrease, sharpness reduction, and misalignment of decision map with object boundaries. In this paper we present a novel multi-focus image fusion method in spatial domain that utilizes a dictionary which is learned from local patches of source images. Sparse representation of relative sharpness measure over this trained dictionary are pooled together to get the corresponding pooled features. Correlation of the pooled features with sparse representations of input images produces a pixel level score for decision map of fusion. Final regularized decision map is obtained using Markov Random Field (MRF) optimization. We also gathered a new color multi-focus image dataset which has more variety than traditional multi-focus image sets. Experimental results demonstrate that our proposed method outperforms existing state-of-the-art methods, in terms of visual and quantitative evaluations. This paper aims at high-accuracy 3D object detection in autonomous driving scenario. We propose Multi-View 3D networks (MV3D), a sensory-fusion framework that takes both LIDAR point cloud and RGB images as input and predicts oriented 3D bounding boxes. We encode the sparse 3D point cloud with a compact multi-view representation. The network is composed of two subnetworks: one for 3D object proposal generation and another for multi-view feature fusion. The proposal network generates 3D candidate boxes efficiently from the bird's eye view representation of 3D point cloud. We design a deep fusion scheme to combine region-wise features from multiple views and enable interactions between intermediate layers of different paths. Experiments on the challenging KITTI benchmark show that our approach outperforms the state-of-the-art by around 25 and 30 AP on the tasks of 3D localization and 3D detection. In addition, for 2D detection, our approach obtains 10.3 higher AP than the state-of-the-art on the hard data among the LIDAR-based methods.