Convex Relaxations for Isometric and Equiareal NRSfM

Extensible objects form a challenging case for NRSfM, owing to the lack of a sufficiently constrained extensible model of the point-cloud. We tackle the challenge by proposing 1) convex relaxations of the isometric model up to quasi-isometry, and 2) convex relaxations involving the equiareal deformation model, which preserves local area and has not been used in NRSfM. The equiareal model is appealing because it is physically plausible and widely applicable. However, it has two main difficulties: first, when used on its own, it is ambiguous, and second, it involves quartic, hence highly nonconvex, constraints. Our approach handles the first difficulty by mixing the equiareal with the isometric model and the second difficulty by new convex relaxations. We validate our methods on multiple real and synthetic data, including well-known benchmarks.

New Feature Detection Mechanism for Extended Kalman Filter Based Monocular SLAM with 1-Point RANSAC

We present a different approach of feature point detection for improving the accuracy of SLAM using single, monocular camera. Traditionally, Harris Corner detection, SURF or FAST corner detectors are used for finding feature points of interest in the image. We replace this with another approach, which involves building a non-linear scale-space representation of images using Perona and Malik Diffusion equation and computing the scale normalized Hessian at multiple scale levels (KAZE feature). The feature points so detected are used to estimate the state and pose of a mono camera using extended Kalman filter. By using accelerated KAZE features and a more rigorous feature rejection routine combined with 1-point RANSAC for outlier rejection, short baseline matching of features are significantly improved, even with a lesser number of feature points, especially in the presence of motion blur. We present a comparative study of our proposal with FAST and show improved localization accuracy in terms of absolute trajectory error.