As the foundation of driverless vehicle and intelligent robots, Simultaneous Localization and Mapping(SLAM) has attracted much attention these days. However, non-geometric modules of traditional SLAM algorithms are limited by data association tasks and have become a bottleneck preventing the development of SLAM. To deal with such problems, many researchers seek to Deep Learning for help. But most of these studies are limited to virtual datasets or specific environments, and even sacrifice efficiency for accuracy. Thus, they are not practical enough. We propose DF-SLAM system that uses deep local feature descriptors obtained by the neural network as a substitute for traditional hand-made features. Experimental results demonstrate its improvements in efficiency and stability. DF-SLAM outperforms popular traditional SLAM systems in various scenes, including challenging scenes with intense illumination changes. Its versatility and mobility fit well into the need for exploring new environments. Since we adopt a shallow network to extract local descriptors and remain others the same as original SLAM systems, our DF-SLAM can still run in real-time on GPU.
Feature matching is at the base of many computer vision problems, such as object recognition or structure from motion. Current methods rely on costly descriptors for detection and matching. In this paper, we propose a very fast binary descriptor based on BRIEF, called ORB, which is rotation invariant and resistant to noise. We demonstrate through experiments how ORB is at two orders of magnitude faster than SIFT, while performing as well in many situations. The efficiency is tested on several real-world applications, including object detection and patch-tracking on a smart phone. In this paper, we present a novel scale- and rotation-invariant interest point detector and descriptor, coined SURF (Speeded Up Robust Features). It approximates or even outperforms previously proposed schemes with respect to repeatability, distinctiveness, and robustness, yet can be computed and compared much faster. This is achieved by relying on integral images for image convolutions; by building on the strengths of the leading existing detectors and descriptors (in casu, using a Hessian matrix-based measure for the detector, and a distribution-based descriptor); and by simplifying these methods to the essential. This leads to a combination of novel detection, description, and matching steps. The paper presents experimental results on a standard evaluation set, as well as on imagery obtained in the context of a real-life object recognition application. Both show SURF's strong performance. Single nucleotide polymorphism (SNP) studies and random mutagenesis projects identify amino acid substitutions in protein-coding regions. Each substitution has the potential to affect protein function. SIFT (Sorting Intolerant From Tolerant) is a program that predicts whether an amino acid substitution affects protein function so that users can prioritize substitutions for further study. We have shown that SIFT can distinguish between functionally neutral and deleterious amino acid changes in mutagenesis studies and on human polymorphisms. SIFT is available at http: blocks.fhcrc.org sift SIFT.html. Local binary descriptors are attracting increasingly attention due to their great advantages in computational speed, which are able to achieve real-time performance in numerous image vision applications. Various methods have been proposed to learn data-dependent binary descriptors. However, most existing binary descriptors aim overly at computational simplicity at the expense of significant information loss which causes ambiguity in similarity measure using Hamming distance. In this paper, by considering multiple features might share complementary information, we present a novel local binary descriptor, referred as ring-based multi-grouped descriptor (RMGD), to successfully bridge the performance gap between current binary and floated-point descriptors. Our contributions are twofold. First, we introduce a new pooling configuration based on spatial ring-region sampling, allowing for involving binary tests on the full set of pairwise regions with different shapes, scales, and distances. This leads to a more meaningful description than the existing methods which normally apply a limited set of pooling configurations. Then, an extended Adaboost is proposed for an efficient bit selection by emphasizing high variance and low correlation, achieving a highly compact representation. Second, the RMGD is computed from multiple image properties where binary strings are extracted. We cast multi-grouped features integration as rankSVM or sparse support vector machine learning problem, so that different features can compensate strongly for each other, which is the key to discriminativeness and robustness. The performance of the RMGD was evaluated on a number of publicly available benchmarks, where the RMGD outperforms the state-of-the-art binary descriptors significantly. Binary key point descriptors provide an efficient alternative to their floating-point competitors as they enable faster processing while requiring less memory. In this paper, we propose a novel framework to learn an extremely compact binary descriptor we call Bin Boost that is very robust to illumination and viewpoint changes. Each bit of our descriptor is computed with a boosted binary hash function, and we show how to efficiently optimize the different hash functions so that they complement each other, which is key to compactness and robustness. The hash functions rely on weak learners that are applied directly to the image patches, which frees us from any intermediate representation and lets us automatically learn the image gradient pooling configuration of the final descriptor. Our resulting descriptor significantly outperforms the state-of-the-art binary descriptors and performs similarly to the best floating-point descriptors at a fraction of the matching time and memory footprint. Feature description for local image patch is widely used in computer vision. While the conventional way to design local descriptor is based on expert experience and knowledge, learning-based methods for designing local descriptor become more and more popular because of their good performance and data-driven property. This paper proposes a novel data-driven method for designing binary feature descriptor, which we call receptive fields descriptor (RFD). Technically, RFD is constructed by thresholding responses of a set of receptive fields, which are selected from a large number of candidates according to their distinctiveness and correlations in a greedy way. Using two different kinds of receptive fields (namely rectangular pooling area and Gaussian pooling area) for selection, we obtain two binary descriptors @math and @math .accordingly. Image matching experiments on the well-known patch data set and Oxford data set demonstrate that RFD significantly outperforms the state-of-the-art binary descriptors, and is comparable with the best float-valued descriptors at a fraction of processing time. Finally, experiments on object recognition tasks confirm that both @math and @math successfully bridge the performance gap between binary descriptors and their floating-point competitors. Stable local feature detection and representation is a fundamental component of many image registration and object recognition algorithms. Mikolajczyk and Schmid (June 2003) recently evaluated a variety of approaches and identified the SIFT [D. G. Lowe, 1999] algorithm as being the most resistant to common image deformations. This paper examines (and improves upon) the local image descriptor used by SIFT. Like SIFT, our descriptors encode the salient aspects of the image gradient in the feature point's neighborhood; however, instead of using SIFT's smoothed weighted histograms, we apply principal components analysis (PCA) to the normalized gradient patch. Our experiments demonstrate that the PCA-based local descriptors are more distinctive, more robust to image deformations, and more compact than the standard SIFT representation. We also present results showing that using these descriptors in an image retrieval application results in increased accuracy and faster matching. In this paper we propose a novel approach to generate a binary descriptor optimized for each image patch independently. The approach is inspired by the linear discriminant embedding that simultaneously increases inter and decreases intra class distances. A set of discriminative and uncorrelated binary tests is established from all possible tests in an offline training process. The patch adapted descriptors are then efficiently built online from a subset of tests which lead to lower intra class distances thus a more robust descriptor. A patch descriptor consists of two binary strings where one represents the results of the tests and the other indicates the subset of the patch-related robust tests that are used for calculating a masked Hamming distance. Our experiments on three different benchmarks demonstrate improvements in matching performance, and illustrate that per-patch optimization outperforms global optimization. We present an evaluation of standard image features in the context of long-term visual teach-and-repeat navigation of mobile robots, where the environment exhibits significant changes in appearance caused by seasonal weather variations and daily illumination changes. We argue that for long-term autonomous navigation, the viewpoint-, scale- and rotation- invariance of the standard feature extractors is less important than their robustness to the mid- and long-term environment appearance changes. Therefore, we focus our evaluation on the robustness of image registration to variable lighting and naturally-occurring seasonal changes. We combine detection and description components of different image extractors and evaluate their performance on five datasets collected by mobile vehicles in three different outdoor environments over the course of one year. Moreover, we propose a trainable feature descriptor based on a combination of evolutionary algorithms and Binary Robust Independent Elementary Features, which we call GRIEF (Generated BRIEF). In terms of robustness to seasonal changes, the most promising results were achieved by the SpG CNN and the STAR GRIEF feature, which was slightly less robust, but faster to calculate. This paper proposes a novel Affine Subspace Representation (ASR) descriptor to deal with affine distortions induced by viewpoint changes. Unlike the traditional local descriptors such as SIFT, ASR inherently encodes local information of multi-view patches, making it robust to affine distortions while maintaining a high discriminative ability. To this end, PCA is used to represent affine-warped patches as PCA-patch vectors for its compactness and efficiency. Then according to the subspace assumption, which implies that the PCA-patch vectors of various affine-warped patches of the same keypoint can be represented by a low-dimensional linear subspace, the ASR descriptor is obtained by using a simple subspace-to-point mapping. Such a linear subspace representation could accurately capture the underlying information of a keypoint (local structure) under multiple views without sacrificing its distinctiveness. To accelerate the computation of ASR descriptor, a fast approximate algorithm is proposed by moving the most computational part (i.e., warp patch under various affine transformations) to an offline training stage. Experimental results show that ASR is not only better than the state-of-the-art descriptors under various image transformations, but also performs well without a dedicated affine invariant detector when dealing with viewpoint changes.