Humans can orient themselves in their 3D environments using simple 2D maps. Differently, algorithms for visual localization mostly rely on complex 3D point clouds that are expensive to build, store, and maintain over time. We bridge this gap by introducing OrienterNet, the first deep neural network that can localize an image with sub-meter accuracy using the same 2D semantic maps that humans use. OrienterNet estimates the location and orientation of a query image by matching a neural Bird's-Eye View with open and globally available maps from OpenStreetMap, enabling anyone to localize anywhere such maps are available. OrienterNet is supervised only by camera poses but learns to perform semantic matching with a wide range of map elements in an end-to-end manner. To enable this, we introduce a large crowd-sourced dataset of images captured across 12 cities from the diverse viewpoints of cars, bikes, and pedestrians. OrienterNet generalizes to new datasets and pushes the state of the art in both robotics and AR scenarios. The code is available at github.com/facebookresearch/OrienterNet.

In the light of recent analyses on privacy-concerning scene revelation from visual descriptors, we develop descriptors that conceal the input image content. In particular, we propose an adversarial learning framework for training visual descriptors that prevent image reconstruction, while maintaining the matching accuracy. We let a feature encoding network and image reconstruction network compete with each other, such that the feature encoder tries to impede the image reconstruction with its generated descriptors, while the reconstructor tries to recover the input image from the descriptors. The experimental results demonstrate that the visual descriptors obtained with our method significantly deteriorate the image reconstruction quality with minimal impact on correspondence matching and camera localization performance.

This paper proposes a method for head pose estimation from a single image. Previous methods often predict head poses through landmark or depth estimation and would require more computation than necessary. Our method is based on regression and feature aggregation. For having a compact model, we employ the soft stagewise regression scheme. Existing feature aggregation methods treat inputs as a bag of features and thus ignore their spatial relationship in a feature map. We propose to learn a fine-grained structure mapping for spatially grouping features before aggregation. The fine-grained structure provides part-based information and pooled values. By utilizing learnable and non-learnable importance over the spatial location, different model variants can be generated and form a complementary ensemble. Experiments show that our method outperforms the state-of-the-art methods including both the landmark-free ones and the ones based on landmark or depth estimation. With only a single RGB frame as input, our method even outperforms methods utilizing multi-modality information (RGB-D, RGB-Time) on estimating the yaw angle. Furthermore, the memory overhead of our model is 100 times smaller than those of previous methods.

This paper presents a novel CNN model called Soft Stagewise Regression Network (SSR-Net) for age estimation from a single image with a compact model size. Inspired by DEX, we address age estimation by performing multi-class classification and then turning classification results into regression by calculating the expected values. SSR-Net takes a coarse-to-fine strategy and performs multi-class classification with multiple stages. Each stage is only responsible for refining the decision of its previous stage for more accurate age estimation. Thus, each stage performs a task with few classes and requires few neurons, greatly reducing the model size. For addressing the quantization issue introduced by grouping ages into classes, SSR-Net assigns a dynamic range to each age class by allowing it to be shifted and scaled according to the input face image. Both the multi-stage strategy and the dynamic range are incorporated into the formulation of soft stagewise regression. A novel network architecture is proposed for carrying out soft stagewise regression. The resultant SSR-Net model is very compact and takes only 0.32 MB. Despite its compact size, SSR-Net’s performance approaches those of the state-of-the-art methods whose model sizes are often more than 1500× larger.

This paper presents the DeepCD framework which learns a pair of complementary descriptors jointly for image patch representation by employing deep learning techniques. It can be achieved by taking any descriptor learning architecture for learning a leading descriptor and augmenting the architecture with an additional network stream for learning a complementary descriptor. To enforce the complementary property, a new network layer, called data-dependent modulation (DDM) layer, is introduced for adaptively learning the augmented network stream with the emphasis on the training data that are not well handled by the leading stream. By optimizing the proposed joint loss function with late fusion, the obtained descriptors are complementary to each other and their fusion improves performance. Experiments on several problems and datasets show that the proposed method1 is simple yet effective, outperforming state-of-the-art methods.

This paper proposes a novel local descriptor through accumulated stability voting (ASV). The stability of feature dimensions is measured by their differences across scales. To be more robust to noise, the stability is further quantized by thresholding. The principle of maximum entropy is utilized for determining the best thresholds for maximizing discriminant power of the resultant descriptor. Accumulating stability renders a real-valued descriptor and it can be converted into a binary descriptor by an additional thresholding process. The real-valued descriptor attains high matching accuracy while the binary descriptor makes a good compromise between storage and accuracy. Our descriptors are simple yet effective, and easy to implement. In addition, our descriptors require no training. Experiments on popular benchmarks demonstrate the effectiveness of our descriptors and their superiority to the state-of-the-art descriptors.