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In this work, we present a novel solution and experimental verification for the multi-image object matching problem. We first review the QuickMatch algorithm for multi-image feature matching and then show how it applies to an object matching test case. The presented experiment looks to match features across a large number of images and features more often and accurately than standard techniques. This experiment demonstrates the advantages of rapid multi-image matching, not only for improving existing algorithms, but also for use in new applications, such as object discovery and localization.
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Distributed and consistent multi-image feature matching via QuickMatch
In this work, we consider the multi-image object matching problem in distributed networks of robots. Multi-image feature matching is a keystone of many applications, including Simultaneous Localization and Mapping, homography, object detection, and Structure from Motion. We first review the QuickMatch algorithm for multi-image feature matching. We then present NetMatch, an algorithm for distributing sets of features across computational units (agents) that largely preserves feature match quality and minimizes communication between agents (avoiding, in particular, the need to flood all data to all agents). Finally, we present an experimental application of both QuickMatch and NetMatch on an object matching test with low-quality images. The QuickMatch and NetMatch algorithms are compared with other standard matching algorithms in terms of preservation of match consistency. Our experiments show that QuickMatch and Netmatch can scale to larger numbers of images and features, and match more accurately than standard techniques.
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- Award ID(s):
- 1717656
- PAR ID:
- 10547324
- Publisher / Repository:
- SAGE Publications
- Date Published:
- Journal Name:
- The International Journal of Robotics Research
- Volume:
- 39
- Issue:
- 10-11
- ISSN:
- 0278-3649
- Format(s):
- Medium: X Size: p. 1222-1238
- Size(s):
- p. 1222-1238
- Sponsoring Org:
- National Science Foundation
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