A General Framework for Fast 3D Object Detection and Localization - PowerPoint PPT Presentation

Jun 23, 2023 •1.17k likes •1.3k views

A General Framework for Fast 3D Object Detection and Localization Using an Uncalibrated Camera Authors: Andres Solis Montero, Jochen Lang, and Robert Laganiere University of Ottawa School of Electrical Engineering and Computer Science VIVA

A General Framework for Fast 3D Object Detection and Localization Using an Uncalibrated Camera ¡ Authors: Andres Solis Montero, Jochen Lang, and Robert Laganiere University of Ottawa School of Electrical Engineering and Computer Science VIVA Lab
Problem & Objectives Problem • Visual real-time 3D object detection • Mobile camera independent of camera optics and mobile object • Memory constraints and no 3D model of the object Objectives Real-time single camera video-based application: • detects moving objects from an uncalibrated mobile camera • has small memory footprint • is invariant to viewpoint changes, robust to noise and image illumation changes • accounts for occlusions and cluttered environments
Related Work
Details
Details
Experimental Results
Experimental Results
Contributions & Conclusions • Framework for real-time 3D object detection using a single,   mobile and uncalibrated camera • Combine binary descriptors with Naïve Bayes classifiers for   feature classification and matching • The new classifier exploits the specific structure of binary descriptors to   increase feature matching while conserving descriptor properties • Small memory footprint due to efficiently encoded features • Learning time is reduced because invariant features and descriptors • Improved indexing scheme to speed up keypoing matching

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