NDLI: Point matching as a classification problem for fast and robust object pose estimation

Content Provider	IEEE Xplore Digital Library
Author	Lepetit, V. Pilet, J. Fua, P.
Copyright Year	2004
Description	Author affiliation: Comput. Vision Lab., Swiss Fed. Inst. of Technol., Lausanne, Switzerland (Lepetit, V.; Pilet, J.; Fua, P.)
Abstract	We propose a novel approach to point matching under large viewpoint and illumination changes that are suitable for accurate object pose estimation at a much lower computational cost than state-of-the-art methods. Most of these methods rely either on using ad hoc local descriptors or on estimating local affine deformations. By contrast, we treat wide baseline matching of key points as a classification problem, in which each class corresponds to the set of all possible views of such a point. Given one or more images of a target object, we train the system by synthesizing a large number of views of individual key points and by using statistical classification tools to produce a compact description of this view set. At run-time, we rely on this description to decide to which class, if any, an observed feature belongs. This formulation allows us to use a classification method to reduce matching error rates, and to move some of the computational burden from matching to training, which can be performed beforehand. In the context of pose estimation, we present experimental results for both planar and non-planar objects in the presence of occlusions, illumination changes, and cluttered backgrounds. We show that the method is both reliable and suitable for initializing real-time applications.
Sponsorship	IEEE Comput. Soc
File Size	1033316
File Format	PDF
ISBN	0769521584
ISSN	10636919
DOI	10.1109/CVPR.2004.1315170
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-06-27
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robustness State estimation Lighting Runtime Computer vision Computational efficiency Laboratories Error analysis Performance loss Books
Content Type	Text
Resource Type	Article
Subject	Computer Vision and Pattern Recognition Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Mr. Siddhartha Mukherjee siddhartha@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	ndl-support@iitkgp.ac.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Libarray of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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