Local Grayvalue Invariants for Image Retrieval
IEEE Transactions on Pattern Analysis and Machine Intelligence
Shape quantization and recognition with randomized trees
Neural Computation
FastSLAM: a factored solution to the simultaneous localization and mapping problem
Eighteenth national conference on Artificial intelligence
Shape Indexing Using Approximate Nearest-Neighbour Search in High-Dimensional Spaces
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Real-Time Simultaneous Localisation and Mapping with a Single Camera
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
One-Shot Learning of Object Categories
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Comparison of Affine Region Detectors
International Journal of Computer Vision
Scalable Recognition with a Vocabulary Tree
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 2
Keypoint Recognition Using Randomized Trees
IEEE Transactions on Pattern Analysis and Machine Intelligence
MonoSLAM: Real-Time Single Camera SLAM
IEEE Transactions on Pattern Analysis and Machine Intelligence
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
SURF: speeded up robust features
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part I
Machine learning for high-speed corner detection
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part I
Matching Planar Features for Robot Localization
ISVC '09 Proceedings of the 5th International Symposium on Advances in Visual Computing: Part I
Weakly supervised classification of objects in images using soft random forests
ECCV'10 Proceedings of the 11th European conference on Computer vision: Part IV
Boosting histograms of descriptor distances for scalable multiclass specific scene recognition
Image and Vision Computing
Evaluation of Interest Point Detectors and Feature Descriptors for Visual Tracking
International Journal of Computer Vision
Real-time camera tracking using a global localization scheme
ACCV'10 Proceedings of the 2010 international conference on Computer vision - Volume part II
RGB-D mapping: Using Kinect-style depth cameras for dense 3D modeling of indoor environments
International Journal of Robotics Research
International Journal of Robotics Research
A convolutional treelets binary feature approach to fast keypoint recognition
ECCV'12 Proceedings of the 12th European conference on Computer Vision - Volume Part V
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Statistical learning techniques have been used to dramatically speed-up keypoint matching by training a classifier to recognize a specific set of keypoints. However, the training itself is usually relatively slow and performed offline. Although methods have recently been proposed to train the classifier online, they can only learn a very limited number of new keypoints. This represents a handicap for real-time applications, such as Simultaneous Localization and Mapping (SLAM), which require incremental addition of arbitrary numbers of keypoints as they become visible.In this paper, we overcome this limitation and propose a descriptor that can be learned online fast enough to handle virtually unlimited numbers of keypoints. It relies on the fact that if we train a Randomized Tree classifier to recognize a number of keypoints extracted from an image database, all other keypoints can be characterized in terms of their response to these classification trees. This signature is fast to compute and has a discriminative power that is comparable to that of the much slower SIFT descriptor.