Direct Image to Point Cloud Descriptors Matching for 6-DOF Camera Localization in Dense 3D Point Clouds

Research output: Chapter in Book/Conference paperConference paper

Abstract

We propose a novel concept to directly match feature descriptors extracted from RGB images, with feature descriptors extracted from 3D point clouds. We use this concept to localize the position and orientation (pose) of the camera of a query image in dense point clouds. We generate a dataset of matching 2D and 3D descriptors, and use it to train a proposed Descriptor-Matcher algorithm. To localize a query image in a point cloud, we extract 2D key-points and descriptors from the query image. Then the Descriptor-Matcher is used to find the corresponding pairs 2D and 3D key-points by matching the 2D descriptors with the pre-extracted 3D descriptors of the point cloud. This information is used in a robust pose estimation algorithm to localize the query image in the 3D point cloud. Experiments demonstrate that directly matching 2D and 3D descriptors is not only a viable idea but can also be used for camera pose localization in dense 3D point clouds with high accuracy.

Original languageEnglish
Title of host publicationNeural Information Processing - 26th International Conference, ICONIP 2019, Proceedings
EditorsTom Gedeon, Kok Wai Wong, Minho Lee
Place of PublicationAustralia
PublisherSpringer
Pages222-234
Number of pages13
ISBN (Print)9783030367107
DOIs
Publication statusPublished - 1 Jan 2019
Event26th International Conference on Neural Information Processing, ICONIP 2019 - Sydney, Australia
Duration: 12 Dec 201915 Dec 2019
http://ajiips.com.au/iconip2019/

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume11954 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference26th International Conference on Neural Information Processing, ICONIP 2019
CountryAustralia
CitySydney
Period12/12/1915/12/19
Internet address

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  • Cite this

    Nadeem, U., Jalwana, M. A. A. K., Bennamoun, M., Togneri, R., & Sohel, F. (2019). Direct Image to Point Cloud Descriptors Matching for 6-DOF Camera Localization in Dense 3D Point Clouds. In T. Gedeon, K. W. Wong, & M. Lee (Eds.), Neural Information Processing - 26th International Conference, ICONIP 2019, Proceedings (pp. 222-234). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11954 LNCS). Springer. https://doi.org/10.1007/978-3-030-36711-4_20