Joint Facade Registration and Segmentation for Urban Localization
This paper presents an efficient approach for solving jointly facade registration and semantic segmentation. Progress in facade detection and recognition enable good initialization for the registration of a reference facade to a newly acquired target image. We propose here to rely on semantic segmentation to improve the accuracy of that initial registration. Simultaneously we aim to improve the quality of the semantic segmentation through the registration. These two problems are jointly solved in a Expectation-Maximization framework. We especially introduce a bayesian model that use prior semantic segmentation as well as geometric structure of the facade reference modeled by $L_p$ Gaussian Mixtures. We show the advantages of our method in term of robustness to clutter and change of illumination on urban images from various database.
Code (0)
등록된 구현이 없습니다.
Tasks
SegmentationSemantic SegmentationSimilar Papers 제목 키워드 기반
ZAHA: Introducing the Level of Facade Generalization and the Large-Scale Point Cloud Facade Semantic Segmentation Benchmark Dataset
Facade semantic segmentation is a long-standing challenge in photogrammetry and computer vision. Although the last decades have witnessed the influx of facade segmentation methods, there is a lack of comprehensive facade…
SegmentationSemantic SegmentationSpotter: Efficient Urban Visual Localization via Geo-Referenced Facade Landmarks in GPS-Degraded Environments
Accurate visual localization on robotic and wearable platforms remains challenging in dense urban environments. Existing methodologies typically rely on GPS for absolute positioning, yet GPS signals frequently degrade in…
Visual LocalizationCamera LocalizationVisual OdometryFacade Segmentation in the Wild
Urban facade segmentation from automatically acquired imagery, in contrast to traditional image segmentation, poses several unique challenges. 360-degree photospheres captured from vehicles are an effective way to captur…
Image SegmentationSegmentationSemantic SegmentationFacade Segmentation for Solar Photovoltaic Suitability
Building integrated photovoltaic (BIPV) facades represent a promising pathway towards urban decarbonization, especially where roof areas are insufficient and ground-mounted arrays are infeasible. Although machine learnin…
DLA-Net: Learning Dual Local Attention Features for Semantic Segmentation of Large-Scale Building Facade Point Clouds
Semantic segmentation of building facade is significant in various applications, such as urban building reconstruction and damage assessment. As there is a lack of 3D point clouds datasets related to the fine-grained bui…
3D Semantic SegmentationDecoderPoint Cloud SegmentationSegmentation+1