Keypoint Semantic Integration for Improved Feature Matching in Outdoor Agricultural Environments
Robust robot navigation in outdoor environments requires accurate perception systems capable of handling visual challenges such as repetitive structures and changing appearances. Visual feature matching is crucial to vision-based pipelines but remains particularly challenging in natural outdoor settings due to perceptual aliasing. We address this issue in vineyards, where repetitive vine trunks and other natural elements generate ambiguous descriptors that hinder reliable feature matching. We hypothesise that semantic information tied to keypoint positions can alleviate perceptual aliasing by enhancing keypoint descriptor distinctiveness. To this end, we introduce a keypoint semantic integration technique that improves the descriptors in semantically meaningful regions within the image, enabling more accurate differentiation even among visually similar local features. We validate this approach in two vineyard perception tasks: (i) relative pose estimation and (ii) visual localisation. Across all tested keypoint types and descriptors, our method improves matching accuracy by 12.6%, demonstrating its effectiveness over multiple months in challenging vineyard conditions.
Code (0)
등록된 구현이 없습니다.
Tasks
Pose EstimationRobot NavigationSimilar Papers 제목 키워드 기반
Semantic Aware Feature Extraction for Enhanced 3D Reconstruction
Feature matching is a fundamental problem in computer vision with wide-ranging applications, including simultaneous localization and mapping (SLAM), image stitching, and 3D reconstruction. While recent advances in deep l…
Semantic SegmentationMulti-Task LearningKeypoint Detection3D ReconstructionProbabilistic Spatial Distribution Prior Based Attentional Keypoints Matching Network
Keypoints matching is a pivotal component for many image-relevant applications such as image stitching, visual simultaneous localization and mapping (SLAM), and so on. Both handcrafted-based and recently emerged deep lea…
Graph Neural NetworkImage StitchingMotion EstimationSimultaneous Localization and MappingLearning-based Relational Object Matching Across Views
Intelligent robots require object-level scene understanding to reason about possible tasks and interactions with the environment. Moreover, many perception tasks such as scene reconstruction, image retrieval, or place re…
Graph Neural NetworkImage RetrievalObjectRetrieval+1Keypoint Encoding for Improved Feature Extraction from Compressed Video at Low Bitrates
In many mobile visual analysis applications, compressed video is transmitted over a communication network and analyzed by a server. Typical processing steps performed at the server include keypoint detection, descriptor …
Image RetrievalKeypoint DetectionRetrievalVideo CompressionSuperEvent: Cross-Modal Learning of Event-based Keypoint Detection
Event-based keypoint detection and matching holds significant potential, enabling the integration of event sensors into highly optimized Visual SLAM systems developed for frame cameras over decades of research. Unfortuna…
Keypoint Detection