NDLI: Real-time image-based 6-DOF localization in large-scale environments

Content Provider	IEEE Xplore Digital Library
Author	Hyon Lim Sinha, S.N. Cohen, M.F. Uyttendaele, M.
Copyright Year	2012
Description	Author affiliation: Seoul National University, Korea (Hyon Lim) \|\| Microsoft Research, Redmond, USA (Sinha, S.N.; Cohen, M.F.; Uyttendaele, M.)
Abstract	We present a real-time approach for image-based localization within large scenes that have been reconstructed offline using structure from motion (Sfm). From monocular video, our method continuously computes a precise 6-DOF camera pose, by efficiently tracking natural features and matching them to 3D points in the Sfm point cloud. Our main contribution lies in efficiently interleaving a fast keypoint tracker that uses inexpensive binary feature descriptors with a new approach for direct 2D-to-3D matching. The 2D-to-3D matching avoids the need for online extraction of scale-invariant features. Instead, offline we construct an indexed database containing multiple DAISY descriptors per 3D point extracted at multiple scales. The key to the efficiency of our method lies in invoking DAISY descriptor extraction and matching sparingly during localization, and in distributing this computation over a window of successive frames. This enables the algorithm to run in real-time, without fluctuations in the latency over long durations. We evaluate the method in large indoor and outdoor scenes. Our algorithm runs at over 30 Hz on a laptop and at 12 Hz on a low-power, mobile computer suitable for onboard computation on a quadrotor micro aerial vehicle.
Starting Page	1043
Ending Page	1050
File Size	551352
Page Count	8
File Format	PDF
ISBN	9781467312264
ISSN	10636919
e-ISBN	9781467312288
e-ISBN	9781467312271
DOI	10.1109/CVPR.2012.6247782
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-06-16
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Real time systems Feature extraction Databases Image reconstruction Streaming media Simultaneous localization and mapping
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	Dr. B. Sutradhar bsutra@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	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library 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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