Computer Engineering / Bilgisayar Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/10
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Conference Object Citation - WoS: 7Citation - Scopus: 6Semantic Pose Verification for Outdoor Visual Localization With Self-Supervised Contrastive Learning(IEEE, 2022) Guerrero, Jose J.; Orhan, Semih; Baştanlar, YalınAny city-scale visual localization system has to overcome long-term appearance changes, such as varying illumination conditions or seasonal changes between query and database images. Since semantic content is more robust to such changes, we exploit semantic information to improve visual localization. In our scenario, the database consists of gnomonic views generated from panoramic images (e.g. Google Street View) and query images are collected with a standard field-of-view camera at a different time. To improve localization, we check the semantic similarity between query and database images, which is not trivial since the position and viewpoint of the cameras do not exactly match. To learn similarity, we propose training a CNN in a self-supervised fashion with contrastive learning on a dataset of semantically segmented images. With experiments we showed that this semantic similarity estimation approach works better than measuring the similarity at pixel-level. Finally, we used the semantic similarity scores to verify the retrievals obtained by a state-of-the-art visual localization method and observed that contrastive learning-based pose verification increases top-1 recall value to 0.90 which corresponds to a 2% improvement.Article Citation - WoS: 9Citation - Scopus: 13Training Cnns With Image Patches for Object Localisation(Institution of Engineering and Technology, 2018) Orhan, Semih; Baştanlar, YalınRecently, convolutional neural networks (CNNs) have shown great performance in different problems of computer vision including object detection and localisation. A novel training approach is proposed for CNNs to localise some animal species whose bodies have distinctive patterns such as leopards and zebras. To learn characteristic patterns, small patches which are taken from different body parts of animals are used to train models. To find object location, in a test image, all locations are visited in a sliding window fashion. Crops are fed into trained CNN and their classification scores are combined into a heat map. Later on, heat maps are converted to bounding box estimates for varying confidence scores. The localisation performance of the patch-based training approach is compared with Faster R-CNN – a state-of-the-art CNN-based object detection and localisation method. Experimental results reveal that the patch-based training outperforms Faster R-CNN, especially for classes with distinctive patterns.