传统同时定位与地图构建(simultaneous localization and mapping,SLAM)在弱纹理场景中的鲁棒性差,在动态场景中受动态物体干扰。针对这些问题,提出了动态视觉SLAM。首先,在视觉前端使用几何对应网络2(geometric correspondence network...传统同时定位与地图构建(simultaneous localization and mapping,SLAM)在弱纹理场景中的鲁棒性差,在动态场景中受动态物体干扰。针对这些问题,提出了动态视觉SLAM。首先,在视觉前端使用几何对应网络2(geometric correspondence network version 2,GCNv2)提取特征点并生成二值描述子,提高SLAM在弱纹理场景中的鲁棒性;然后,引入目标检测网络对动态物体进行检测,获取当前帧的语义信息,结合多视图几何剔除动态物体,去除动态物体对SLAM的干扰。实验结果表明:在弱纹理场景中,所提方法可以持续提取足够数量的高质量特征点;在存在动态物体干扰的场景中,所提方法的绝对位姿误差和相对位姿误差较小;在静态场景中,所提方法的性能仍然较优。展开更多
The problem of art forgery and infringement is becoming increasingly prominent,since diverse self-media contents with all kinds of art pieces are released on the Internet every day.For art paintings,object detection a...The problem of art forgery and infringement is becoming increasingly prominent,since diverse self-media contents with all kinds of art pieces are released on the Internet every day.For art paintings,object detection and localization provide an efficient and ef-fective means of art authentication and copyright protection.However,the acquisition of a precise detector requires large amounts of ex-pensive pixel-level annotations.To alleviate this,we propose a novel weakly supervised object localization(WSOL)with background su-perposition erasing(BSE),which recognizes objects with inexpensive image-level labels.First,integrated adversarial erasing(IAE)for vanilla convolutional neural network(CNN)dropouts the most discriminative region by leveraging high-level semantic information.Second,a background suppression module(BSM)limits the activation area of the IAE to the object region through a self-guidance mechanism.Finally,in the inference phase,we utilize the refined importance map(RIM)of middle features to obtain class-agnostic loc-alization results.Extensive experiments are conducted on paintings,CUB-200-2011 and ILSVRC to validate the effectiveness of our BSE.展开更多
文摘传统同时定位与地图构建(simultaneous localization and mapping,SLAM)在弱纹理场景中的鲁棒性差,在动态场景中受动态物体干扰。针对这些问题,提出了动态视觉SLAM。首先,在视觉前端使用几何对应网络2(geometric correspondence network version 2,GCNv2)提取特征点并生成二值描述子,提高SLAM在弱纹理场景中的鲁棒性;然后,引入目标检测网络对动态物体进行检测,获取当前帧的语义信息,结合多视图几何剔除动态物体,去除动态物体对SLAM的干扰。实验结果表明:在弱纹理场景中,所提方法可以持续提取足够数量的高质量特征点;在存在动态物体干扰的场景中,所提方法的绝对位姿误差和相对位姿误差较小;在静态场景中,所提方法的性能仍然较优。
基金This work was supported in part by Guangdong Provincial Key Laboratory of Artificial Intelligence in Medical Image Analysis and Application,China(No.2022B1212010011).
文摘The problem of art forgery and infringement is becoming increasingly prominent,since diverse self-media contents with all kinds of art pieces are released on the Internet every day.For art paintings,object detection and localization provide an efficient and ef-fective means of art authentication and copyright protection.However,the acquisition of a precise detector requires large amounts of ex-pensive pixel-level annotations.To alleviate this,we propose a novel weakly supervised object localization(WSOL)with background su-perposition erasing(BSE),which recognizes objects with inexpensive image-level labels.First,integrated adversarial erasing(IAE)for vanilla convolutional neural network(CNN)dropouts the most discriminative region by leveraging high-level semantic information.Second,a background suppression module(BSM)limits the activation area of the IAE to the object region through a self-guidance mechanism.Finally,in the inference phase,we utilize the refined importance map(RIM)of middle features to obtain class-agnostic loc-alization results.Extensive experiments are conducted on paintings,CUB-200-2011 and ILSVRC to validate the effectiveness of our BSE.
