Lecture
Visual localization and registration without matching
Speaker: Kostas Daniilidis, Associate Professor of Computer and Information Science, at the University of PennsylvaniaDate: Thursday, 11th May 2006,
Time: 15:30 - 17:00
Mediterranean Studies Seminar Room - FORTH
Host: Prof. Constantine Stephanidis
Director ICS-FORTH
Abstract:
Location-based services is an upcoming market providing location specific
information to the user. While GPS and cellular networks help in rough
localization outdoors, they cannot provide directional information and
exact position. Cameras do not require any external signals and work
almost everywhere. However, the data dimensionality of images makes
the data association (matching) along multiple frames hard. We show
in this talk that we can solve the visual localization problem without
matching with a voting scheme.
Voting of the parameter space (known as Hough transform) can be accelerated
if we realize that the transform integral is a convolution integral,
not necessarily on the image plane. Using tools from harmonic analysis
on groups, we give a new light to Fourier methods and propose algorithms
that are robust and suitable when the majority of features are outliers.
We close the talk with a new and fully autimatic method for registering
to eachother range scans with limited overlap.
Speaker's bio:
Kostas Daniilidis is Associate Professor of Computer and Information
Science at the University of Pennsylvania where he was Assistant Professor
from 1998 to 2003. He is a member of the interdisciplinary GRASP laboratory.
He obtained his MSE (Diploma) in Electrical Engineering from the National
Technical University of Athens, 1986, and his PhD (Dr.rer.nat.) in Computer
Science from the University of Karlsruhe, 1992, under the supervision
of Hans-Hellmut Nagel. His research interests are in space and motion
perception with machines, with applications on navigation, omnidirectional
vision and immersive environments. He is Associate Editor of IEEE Transactions
on Pattern Analysis and Machine Intelligence.
He was the chair of the 2000 IEEE Workshop on Omnidirectional Vision
and Area Chair of the ECCV 2004, CVPR 2004, 2005, and 2006 conferences.
In June 2006, he co-chairs with Pollefeys the Third Symposium on 3D
Data Processing, Visualization, and Transmission.