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superglue_indoor

magic-leap-community

The SuperGlue model was proposed in SuperGlue: Learning Feature Matching with Graph Neural Networks by Paul-Edouard Sarlin, Daniel DeTone, Tomasz Malisiewicz and Andrew Rabinovich. This model consists of matching two sets of interest points detected in an image. Paired with the SuperPoint model, it can be used to match two images and estimate the pose between them. This model is useful for tasks such as image matching, homography estimation, etc. *This paper introduces SuperGlue, a neural network that matches two sets of local features by jointly finding correspondences and rejecting non-matchable points. Assignments are estimated by solving a differentiable optimal transport problem, whose costs are predicted by a graph neural network. We introduce a flexible context aggregation mechanism based on attention, enabling SuperGlue to reason about the underlying 3D scene and feature assignments jointly. Compared to traditional, hand-designed heuristics, our technique learns priors over geometric transformations and regularities of the 3D world through end-to-end training from image pairs. SuperGlue outperforms other learned approaches and achieves state-of-the-art results on the task of pose estimation in challenging real-world indoor and outdoor environments. The proposed method performs matching in real-time on a modern GPU and can be readily integrated into modern SfM or SLAM systems. The code and trained weights are publicly available at this URL.*

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superglue_outdoor

magic-leap-community

基础档案已收录，详细介绍后续补充。可先查看厂商、分类与来源。

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superpoint

magic-leap-community

The SuperPoint model was proposed in SuperPoint: Self-Supervised Interest Point Detection and Description by Daniel DeTone, Tomasz Malisiewicz and Andrew Rabinovich. This model is the result of a self-supervised training of a fully-convolutional network for interest point detection and description. The model is able to detect interest points that are repeatable under homographic transformations and provide a descriptor for each point. The use of the model in its own is limited, but it can be used as a feature extractor for other tasks such as homography estimation, image matching, etc. *This paper presents a self-supervised framework for training interest point detectors and descriptors suitable for a large number of multiple-view geometry problems in computer vision. As opposed to patch-based neural networks, our fully-convolutional model operates on full-sized images and jointly computes pixel-level interest point locations and associated descriptors in one forward pass. We introduce Homographic Adaptation, a multi-scale, multi-homography approach for boosting interest point detection repeatability and performing cross-domain adaptation (e.g., synthetic-to-real). Our model, when trained on the MS-COCO generic image dataset using Homographic Adaptation, is able to repeatedly detect a much richer set of interest points than the initial pre-adapted deep model and any other traditional corner detector. The final system gives rise to state-of-the-art homography estimation results on HPatches when compared to LIFT, SIFT and ORB.*

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Explore AI models 3

superglue_indoor

superglue_outdoor

superpoint

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