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Autonomous vehicle framework relies on localization algorithms to position itself and navigates to the destination. In this paper, we explore a light-weight visual localization method to realize the vehicle position and attitude estimation based on images rather than the dominant LIDAR data. We apply SLAM and an offline map correction method to generate a high precision map, which composes 3D points and feature descriptors. For each image, we extract the features and match against the map to explore correspondences.

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Depth estimation from a single underwater image is one of the most challenging problems and is highly ill-posed. Due to the absence of large generalized underwater depth datasets and the difficulty in obtaining ground truth depth-maps, supervised learning techniques such as direct depth regression cannot be used. In this paper, we propose an unsupervised method for depth estimation from a single underwater image taken "in the wild" by using haze as a cue for depth.

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15 Views

Occlusion removal is an interesting application of image enhancement, for which, existing work suggests manually-annotated or domain-specific occlusion removal. No work tries to address automatic occlusion detection and removal as a context-aware generic problem. In this paper, we present a novel methodology to identify objects that do not relate to the image context as occlusions and remove them, reconstructing the space occupied coherently.

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10 Views

Cloud segmentation is a vital task in applications that utilize satellite imagery. A common obstacle in using deep learning-based methods for this task is the insufficient number of images with their annotated ground truths. This work presents a content-aware unpaired image-to-image translation algorithm. It generates synthetic images with different land cover types from original images while preserving the locations and the intensity values of the cloud pixels. Therefore, no manual annotation of ground truth in these images is required.

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44 Views

This paper presents a framework for accurately tracking objects of complex shapes with joint minimization of geometric and photometric parameters using a coarse 3D object model with the RGB-D cameras. Tracking with coarse 3D model is remarkably useful for industrial applications. A technique is proposed that uses a combination of point-to-plane distance minimization and photometric error minimization to track objects accurately. The concept of 'keyframes' are used in this system of object tracking for minimizing drift.

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14 Views

A new hyperspectral texture descriptor, Relocated Spectral Difference Occurrence Matrix (rSDOM) is proposed. It assesses the distribution of spectral difference in a given neighborhood. For metrological purposes, rSDOM employs Kullback-Leibler pseudo-divergence (KLPD) for spectral difference calculation. It is generic and adapted for any spectral range and number of band. As validation, a texture classification scheme based on nearest neighbor classifier is applied on HyTexiLa dataset using rSDOM.

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46 Views

Employing one or more additional classifiers to break the self-learning loop in tracing-by-detection has gained considerable attention. Most of such trackers merely utilize the redundancy to address the accumulating label error in the tracking loop, and suffer from high computational complexity as well as tracking challenges that may interrupt all classifiers (e.g. temporal occlusions). We propose the active co-tracking framework, in which the main classifier of the tracker labels samples of the video sequence, and only consults auxiliary classifier when it is uncertain.

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14 Views

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