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Camera/Vision for Geo-Location & Geo-Identification. John S. Zelek Intelligent Human Machine Interface Lab Dept. of Systems Design Engineering University of Waterloo. Why can’t we use GPS everywhere?. Urban canyons. Indoor navigation. 1. Introduction - 2/20. What we are trying to do.
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Camera/Vision for Geo-Location & Geo-Identification • John S. Zelek • Intelligent Human Machine Interface Lab • Dept. of Systems Design Engineering • University of Waterloo
Why can’t we use GPS everywhere? Urban canyons Indoor navigation 1. Introduction - 2/20
What we are trying to do Accuracy + Location + Maps + Camera Inertial Altimeter, Compass GPS +/- = 1. Introduction – 3/20
Applications 1. Introduction – 4/20
SLAM Given: Dead-reck. Ext. sensor Waypoints Not Known: Map GPS 2. SLAM – 5/20
Trees as landmarks for triangulation 2. SLAM - 6/20
Differentiating different trees Daniel Asmar Slide7 2. SLAM – 7/20
Object Category Recognition 3. Object Detection & Recognition – 9/20
Classes of Objects vs. Instances 2 instances of an individual object (space shuttle) 2 instances of an object face class 2 instances of an object motorcycle class 3. Object Detection & Recognition – 10/20
Visual vs. Functional classes There is a wide variation in the appearance of objects that are categorized by function. We focus only on categories related by some visual consistency only! 3. Object Detection & Recognition – 11/20
Challenges • changes of viewpoint • transformation (translation, rotation, scaling, affine), out-of-plane (foreshortening) • illumination differences • background clutter • occlusion • intra-class variation 3. Object Detection & Recognition – 12/20
Ours Others Repeatability of our detector appears to be better! 3. Object Detection & Recognition – 13/20
Object Graphs 3. Object Detection & Recognition – 14/20
Structure from stereo 4. Structure from Stereo – 17/20
Structure from motion 4. Structure From Motion – 18/20