Course Information

• When: Sunday, October 17th, 2021

• Where: Online at https://youtu.be/RaVPiIGhdWk

• Time: half-day tutorial - starts at 2:30 pm CEST (ics)

• Preliminary Schedule

  • Part I: Image Retrieval for Coarse Localization (Giorgos, Yannis)

    • Image Retrieval & Visual Representation [50 min] (Giorgos) [slides]

    • Metric learning: knowledge transfer, data augmentation, and attention [20 min] (Yannis) [slides]

  • Part II: Feature-based Visual Localization (Sudipta, Torsten, Zuzana)

    • Camera Pose Estimation [20 min] (Zuzana)

    • Feature-based Visual Localization [40 min] (Torsten) [slides]

    • Privacy-Preserving Localization [20 min] (Sudipta) [slides]

  • Part III: Learning-based Visual Localization [50 min] (Eric) [slides]

Material

Recording

https://youtu.be/RaVPiIGhdWk

Slides

Image Retrieval & Visual Representation

Code pointers

• Retrieval and Coarse Localization

  • Feature-based

    • DenseVLAD

    • Aggregated Selective Match Kernel (ASMK) for retrieval

    • DisLocation

    • Place recognition with repetitive structures

  • Learning-based

    • NetVLAD

    • R-MAC and Integral Max pooling

    • CNN training for retrieval (GeM)

    • HOW deep local descriptors

    • Asymmetric metric learning

• Visual Localization

  • Feature-based

    • kd-tree baseline, Vocabulary-based Prioritized Search (VPS), Active Search

    • 3D model compression

    • Geometric burstiness weighting for image retrieval

    • iOS demo for local pose tracking via SLAM

  • Learning-based

    • PoseNet

    • Differentiable RANSAC

Datasets

• 7 Scenes (Visual Localization)

• Aachen (Visual Localization)

• Cambridge Landmarks (Visual Localization)

• Dubrovnik, Rome (Visual Localization)

• San Francisco SF-0, reference poses (Visual Localization)

• Aachen Day-Night and RobotCar Seasons datasets (Visual Localization) (dataset available upon request)

• TUM LSI Dataset (Visual Localization)

• SfM120k training set for image retrieval

• Revisiting Oxford and Paris Benchmark

• Google Landmarks Dataset

Previous Related Tutorials

• ICCV 2019 Tutorial - Large-Scale Visual Place Recognition and Image-Based Localization

• ECCV 2018 Tutorial - Visual Localization: Feature-based vs. Learned Approaches

• CVPR 2017 Tutorial - Large-Scale Visual Place Recognition and Image-Based Localization

• CVPR 2015 Tutorial - Large-Scale Visual Place Recognition and Image-Based Localization

• CVPR 2014 Tutorial - Large-Scale Visual Place Recognition and Image-Based Localization