Abstract

An important pre-requisite for many tasks like Visual Servoing and visual SLAM is the task of tracking the underlying features. The use of planar features for these purposes has gained importance recently. Complementing current planar tracking works in the robotics literature, which use multiple features, we formulate the tracking problem using multiple planes. Inspired by the maturity in understanding of geometric quantities like the homography in computer vision, we develop a system based on the Unscented Kalman Filter (UKF) that localizes the camera and estimates the plane parameters of a scene, using homographies as measurement. Homographies are estimated using tracked feature points. We show that this framework provides significant robustness and stability to the system under significant changes of illumination, occlusion etc. Finally, we also propose a Convex optimization based solution for the initialization of this system, which is capable of producing globally optimal estimates, and is a useful algorithm in its own right. Several synthetic and real results are presented to demonstrate the efficacy of our approach.

Abstract

Semantic analysis of a document collection can be viewed as an unsupervised clustering of the constituent words and documents around hidden or latent concepts. This has shown to improve the performance of visual bag of words in image retrieval. However, the enhancement in performance depends heavily on the right choice of number of semantic concepts. Most of the semantic indexing schemes are also computationally costly. In this paper, we employ a bipartite graph model (BGM) for image retrieval. BGM is a scalable datastructure that aids semantic indexing in an efficient manner. It can also be incrementally updated. BGM uses tf-idf values for building a semantic bipartite graph. We also introduce a graph partitioning algorithm that works on the BGM to retrieve semantically relevant images from a database. We demonstrate the properties as well as performance of our semantic indexing scheme through a series of experiments. We also compare our methods with incremental pLSA

Abstract

In this paper, we present a monocular camera based terrain classification scheme. The uniqueness of the proposed scheme is that it inherently incorporates spatial smoothness while segmenting a image, without requirement of post-processing smoothing methods. The algorithm is extremely fast because it is build on top of a Random Forest classifier. The baseline algorithm uses color, texture and their combination with classifiers such as SVM and Random Forests. We present comparison across features and classifiers. We further enhance the algorithm through a label transfer method. The efficacy of the proposed solution can be seen as we reach a low error rates on both our dataset and other publicly available datasets.

Abstract

Kernel methods yield state-of-the-art performance in certain applications such as image classification and object detection. However, large scale problems require machine learning techniques of at most linear complexity and these are usually limited to linear kernels. This unfortunately rules out gold-standard kernels such as the generalized RBF kernels (e.g. exponential-χ 2 ). Recently, Maji and Berg [13] and Vedaldi and Zisserman [20] proposed explicit feature maps to approximate the additive kernels (intersection, χ 2 , etc.) by linear ones, thus enabling the use of fast machine learning technique in a non-linear context. An analogous technique was proposed by Rahimi and Recht [14] for the translation invariant RBF kernels. In this paper, we complete the construction and combine the two techniques to obtain explicit feature maps for the generalized RBF kernels. Furthermore, we investigate a learning method using l 1 regularization to encourage sparsity in the final vector representation, and thus reduce its dimension. We evaluate this technique on the VOC 2007 detection challenge, showing when it can improve on fast additive kernels, and the trade-offs in complexity and accuracy

Abstract

Popular image retrieval schemes generally rely only on a single mode, (either low level visual features or embedded text) for searching in multimedia databases. Many popular image collections (eg. those emerging over Internet) have associated tags, often for human consumption. A natural extension is to combine information from multiple modes for enhancing effectiveness in retrieval. In this paper, we propose two techniques: Multi-modal Latent Semantic Indexing (MMLSI) and Multi-Modal Probabilistic Latent Semantic Analysis (MMpLSA). These methods are obtained by directly extending their traditional single mode counter parts. Both these methods incorporate visual features and tags by generating simultaneous semantic contexts. The experimental results demonstrate an improved accuracy over other single and multi-modal methods

Abstract

Matching word images has many applications in document recognition and retrieval systems. Dynamic Time Warping (DTW) is popularly used to estimate the similarity between word images. Word images are represented as sequences of feature vectors, and the cost associated with dynamic programming based alignment is considered as the dissimilarity between them. However, such approaches are computationally costly when compared to fixed length matching schemes. In this paper, we explore systematic methods for identifying appropriate distance metrics for a given database or language. This is achieved by learning query specific distance functions which can be computed online efficiently. We show that a weighted Euclidean distance can outperform DTW for matching word images. This class of distance functions are also ideal for scalability and large scale matching. Our results are validated with mean Average Precision (mAP) on a fully annotated data set of 160K word images. We then show that the learnt distance functions can even be extended to a new database to obtain accurate retrieval.

Abstract

Most of the Indian scripts do not have any robust commercial OCRs. Many of the laboratory prototypes report reasonable results at recognition/classification stage. However, word level accuracies are still poor. It is well known that word accuracy decreases as the number of characters in a word increase. For Malayalam, the average number of characters in a word is almost twice that of English. Moreover, the number of words required to cover 80% of the Malayalam language is more than forty times that of other Indian languages such as Hindi. Hence a direct dictionary based post-processing scheme is not suitable for Malayalam. In this paper, we propose a post-processing scheme which uses statistical language models at the sub-character level to boost word level recognition results. We use a multi-stage graph representation and formulate the recognition task as an optimization problem. Edges of the graph encode the language information and nodes represent the visual similarities. An optimal path from source node to destination node represents the recognized text. We validate our method on more than 10,000 words from a Malayalam corpus.

Abstract

Conventional optical character recognition (OCR) systems operate on individual characters and words, and do not normally exploit document or collection context. We describe a Collection OCR which takes advantage of the fact that multiple examples of the same word (often in the same font) may occur in a document or collection. The idea here is that an OCR or a reCAPTCHA like process generates a partial set of recognized words. In the second stage, a nearest neighbor algorithm compares the remaining word-images to those already recognized and propagates labels from the nearest neighbors. It is shown that by using an approximate fast nearest neighbor algorithm based on Hierarchical K-Means (HKM), we can do this accurately and efficiently. It is also shown that profile based features perform much better than SIFT and Pyramid Histogram of Gradient (PHOG) features. We believe that this is because profile features are more robust to word degradations (common in our documents). This approach is applied to a collection of Telugu books - a language for which no commercial OCR exists. We show from a selection of 33 Telugu books that starting with OCR labels for only 30% of the collection we can recognize the remaining 70% of the words in the collection with 70% accuracy using this approach. Since the approach makes no language specific assumptions, it should be applicable to a large number of languages. In particular we are interested in its applicability to Indic languages and scripts.

Abstract

Most of the traditional image retrieval methods use either low level visual features or embedded text for representation and indexing. In recent years, there has been significant interest in combining these two different modalities for effective retrieval. In this paper, we propose a tri-partite graph based representation of the multi model data for image retrieval tasks. Our representation is ideally suited for dynamically changing or evolving datasets, where repeated semantic indexing is practically impossible. We employ a graph partitioning algorithm for retrieving semantically relevant images from the database of images represented using the tripartite graph. Being “just in time semantic indexing”, our method is computationally light and less resource intensive. Experimental results show that the data structure used is scalable. We also show that the performance of our method is comparable with other multi model approaches, with significantly lower computational and resources requirements.

Abstract

We present a scalable and incremental approach for creating interactive image-based walkthroughs from a dynamically growing collection of photographs of a scene. Prior approaches, such as [16], perform a global scene reconstruction as they require the knowledge of all the camera poses. These are recovered via batch processing involving pairwise image matching and structure from motion (Sfm), on collections of photographs. Both steps can become computational bottlenecks for large image collections. Instead of computing a global reconstruction and all the camera poses, our system utilizes several partial reconstructions, each of which is computed from only a small subset of overlapping images. These subsets are efficiently determined using a Bag of Words-based matching technique. Our framework easily allows an incoming stream of new photographs to be incrementally inserted into an existing reconstruction. We demonstrate that an imagebased rendering framework based on only partial scene reconstructions can be used to navigate large collections containing thousands of images without sacrificing the navigation experience. As our system is designed for incremental construction from a stream of photographs, it is well suited for processing the ever-growing photo collections.