With the increasing interest in augmented and virtual reality, visual localization is acquiring a key role in many downstream applications requiring a real-time estimate of the user location only from visual streams. In this paper, we propose an optimized hierarchical localization pipeline by specifically tackling cultural heritage sites with specific applications in museums. Specifically, we propose to enhance the Structure from Motion (SfM) pipeline for constructing the sparse 3D point cloud by a-priori filtering blurred and near-duplicated images. We also study an improved inference pipeline that merges similarity-based localization with geometric pose estimation to effectively mitigate the effect of strong outliers. We show that the proposed optimized pipeline obtains the lowest localization error on the challenging Bellomo dataset . Our proposed approach keeps both build and inference times bounded, in turn enabling the deployment of this pipeline in real-world scenarios.
Multi-camera vehicle tracking (MCVT) aims to trace multiple vehicles among videos gathered from overlapping and non-overlapping city cameras. It is beneficial for city-scale traffic analysis and management as well as for security. However, developing MCVT systems is tricky, and their real-world applicability is dampened by the lack of data for training and testing computer vision deep learning-based solutions. Indeed, creating new annotated datasets is cumbersome as it requires great human effort and often has to face privacy concerns. To alleviate this problem, we introduce MC-GTA – Multi Camera Grand Tracking Auto, a synthetic collection of images gathered from the virtual world provided by the highly-realistic Grand Theft Auto 5 (GTA) video game. Our dataset has been recorded from several cameras recording urban scenes at various crossroads. The annotations, consisting of bounding boxes localizing the vehicles with associated unique IDs consistent across the video sources, have been automatically generated by interacting with the game engine. To assess this simulated scenario, we conduct a performance evaluation using an MCVT SOTA approach, showing that it can be a valuable benchmark that mitigates the need for real-world data. The MC-GTA dataset and the code for creating new ad-hoc custom scenarios are available at https://github.com/GaetanoV10/GT5-Vehicle-BB.
Although convolutional neural networks (CNNs) showed remarkable results in many vision tasks, they are still strained by simple yet challenging visual reasoning problems. Inspired by the recent success of the Transformer network in computer vision, in this paper, we introduce the Recurrent Vision Transformer (RViT) model. Thanks to the impact of recurrent connections and spatial attention in reasoning tasks, this network achieves competitive results on the same-different visual reasoning problems from the SVRT dataset. The weight-sharing both in spatial and depth dimensions regularizes the model, allowing it to learn using far fewer free parameters, using only 28k training samples. A comprehensive ablation study confirms the importance of a hybrid CNN + Transformer architecture and the role of the feedback connections, which iteratively refine the internal representation until a stable prediction is obtained. In the end, this study can lay the basis for a deeper understanding of the role of attention and recurrent connections for solving visual abstract reasoning tasks. The code for reproducing our results is publicly available here: https://tinyurl.com/recvit.