accurate video localization based on google maps street view accurate video localization based on...
DESCRIPTION
Ground Truth PathTRANSCRIPT
![Page 1: Accurate Video Localization Based on Google Maps Street View Accurate Video Localization Based on Google Maps Street View](https://reader035.vdocument.in/reader035/viewer/2022081515/5a4d1b027f8b9ab059986e1f/html5/thumbnails/1.jpg)
Accurate Video Localization
Based on Google Maps Street View
![Page 2: Accurate Video Localization Based on Google Maps Street View Accurate Video Localization Based on Google Maps Street View](https://reader035.vdocument.in/reader035/viewer/2022081515/5a4d1b027f8b9ab059986e1f/html5/thumbnails/2.jpg)
Driving(1) Video – (0:54 – 1:50)
Video Video Mac
![Page 3: Accurate Video Localization Based on Google Maps Street View Accurate Video Localization Based on Google Maps Street View](https://reader035.vdocument.in/reader035/viewer/2022081515/5a4d1b027f8b9ab059986e1f/html5/thumbnails/3.jpg)
Ground Truth Path
![Page 4: Accurate Video Localization Based on Google Maps Street View Accurate Video Localization Based on Google Maps Street View](https://reader035.vdocument.in/reader035/viewer/2022081515/5a4d1b027f8b9ab059986e1f/html5/thumbnails/4.jpg)
All Frames (2 per second)
![Page 5: Accurate Video Localization Based on Google Maps Street View Accurate Video Localization Based on Google Maps Street View](https://reader035.vdocument.in/reader035/viewer/2022081515/5a4d1b027f8b9ab059986e1f/html5/thumbnails/5.jpg)
Removing incorrect matches with pruningWe chose a proximity radius ‘r’ and a number of points as a
thresholdFor each point, we check then number of points in that
radius and compare with the threshold to find the big group of correct points
r
![Page 6: Accurate Video Localization Based on Google Maps Street View Accurate Video Localization Based on Google Maps Street View](https://reader035.vdocument.in/reader035/viewer/2022081515/5a4d1b027f8b9ab059986e1f/html5/thumbnails/6.jpg)
After Pruning
![Page 7: Accurate Video Localization Based on Google Maps Street View Accurate Video Localization Based on Google Maps Street View](https://reader035.vdocument.in/reader035/viewer/2022081515/5a4d1b027f8b9ab059986e1f/html5/thumbnails/7.jpg)
Comparison
Using all frames (2/sec) After pruning
![Page 8: Accurate Video Localization Based on Google Maps Street View Accurate Video Localization Based on Google Maps Street View](https://reader035.vdocument.in/reader035/viewer/2022081515/5a4d1b027f8b9ab059986e1f/html5/thumbnails/8.jpg)
After Pruning with Ground Truth
Numbering is the sequential ordering of the frames
![Page 9: Accurate Video Localization Based on Google Maps Street View Accurate Video Localization Based on Google Maps Street View](https://reader035.vdocument.in/reader035/viewer/2022081515/5a4d1b027f8b9ab059986e1f/html5/thumbnails/9.jpg)
Driving(2) Video – (0:31 – end)
Video
Video Mac
![Page 10: Accurate Video Localization Based on Google Maps Street View Accurate Video Localization Based on Google Maps Street View](https://reader035.vdocument.in/reader035/viewer/2022081515/5a4d1b027f8b9ab059986e1f/html5/thumbnails/10.jpg)
Ground Truth Path
![Page 11: Accurate Video Localization Based on Google Maps Street View Accurate Video Localization Based on Google Maps Street View](https://reader035.vdocument.in/reader035/viewer/2022081515/5a4d1b027f8b9ab059986e1f/html5/thumbnails/11.jpg)
All Frames (2 per second)
![Page 12: Accurate Video Localization Based on Google Maps Street View Accurate Video Localization Based on Google Maps Street View](https://reader035.vdocument.in/reader035/viewer/2022081515/5a4d1b027f8b9ab059986e1f/html5/thumbnails/12.jpg)
After Pruning
![Page 13: Accurate Video Localization Based on Google Maps Street View Accurate Video Localization Based on Google Maps Street View](https://reader035.vdocument.in/reader035/viewer/2022081515/5a4d1b027f8b9ab059986e1f/html5/thumbnails/13.jpg)
Comparison
Using all frames (2/sec) After pruning
The large group of matches was successfully kept. Extreme outliers were removed.
![Page 14: Accurate Video Localization Based on Google Maps Street View Accurate Video Localization Based on Google Maps Street View](https://reader035.vdocument.in/reader035/viewer/2022081515/5a4d1b027f8b9ab059986e1f/html5/thumbnails/14.jpg)
After Pruning with Ground Truth
Numbering is the sequential ordering of the frames
![Page 15: Accurate Video Localization Based on Google Maps Street View Accurate Video Localization Based on Google Maps Street View](https://reader035.vdocument.in/reader035/viewer/2022081515/5a4d1b027f8b9ab059986e1f/html5/thumbnails/15.jpg)
Use a first pruning to find the large group
Because most points have a large number of frame matches, we use a second pruning to refine the results
We choose a radius and threshold but use smaller numbers to eliminate locations with few frame matches
Consecutive pruning
r
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After a second round of pruning
![Page 17: Accurate Video Localization Based on Google Maps Street View Accurate Video Localization Based on Google Maps Street View](https://reader035.vdocument.in/reader035/viewer/2022081515/5a4d1b027f8b9ab059986e1f/html5/thumbnails/17.jpg)
Comparison
First round of pruning Second round of pruning
![Page 18: Accurate Video Localization Based on Google Maps Street View Accurate Video Localization Based on Google Maps Street View](https://reader035.vdocument.in/reader035/viewer/2022081515/5a4d1b027f8b9ab059986e1f/html5/thumbnails/18.jpg)
After Consecutive Pruning with Ground Truth
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Walking(10) Video
Video
Video Mac
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Ground Truth Path
![Page 21: Accurate Video Localization Based on Google Maps Street View Accurate Video Localization Based on Google Maps Street View](https://reader035.vdocument.in/reader035/viewer/2022081515/5a4d1b027f8b9ab059986e1f/html5/thumbnails/21.jpg)
All Frames (2 per second)
![Page 22: Accurate Video Localization Based on Google Maps Street View Accurate Video Localization Based on Google Maps Street View](https://reader035.vdocument.in/reader035/viewer/2022081515/5a4d1b027f8b9ab059986e1f/html5/thumbnails/22.jpg)
After First Pruning
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Comparison
Using all frames (2/sec) After pruning
![Page 24: Accurate Video Localization Based on Google Maps Street View Accurate Video Localization Based on Google Maps Street View](https://reader035.vdocument.in/reader035/viewer/2022081515/5a4d1b027f8b9ab059986e1f/html5/thumbnails/24.jpg)
After One Pruning with Ground Truth
Numbering is the sequential ordering of the frames
![Page 25: Accurate Video Localization Based on Google Maps Street View Accurate Video Localization Based on Google Maps Street View](https://reader035.vdocument.in/reader035/viewer/2022081515/5a4d1b027f8b9ab059986e1f/html5/thumbnails/25.jpg)
We again choose a radius and threshold but use smaller numbers
Consecutive pruning
r
![Page 26: Accurate Video Localization Based on Google Maps Street View Accurate Video Localization Based on Google Maps Street View](https://reader035.vdocument.in/reader035/viewer/2022081515/5a4d1b027f8b9ab059986e1f/html5/thumbnails/26.jpg)
After a second round of pruning
![Page 27: Accurate Video Localization Based on Google Maps Street View Accurate Video Localization Based on Google Maps Street View](https://reader035.vdocument.in/reader035/viewer/2022081515/5a4d1b027f8b9ab059986e1f/html5/thumbnails/27.jpg)
Comparison
First round of pruning Second round of pruning
![Page 28: Accurate Video Localization Based on Google Maps Street View Accurate Video Localization Based on Google Maps Street View](https://reader035.vdocument.in/reader035/viewer/2022081515/5a4d1b027f8b9ab059986e1f/html5/thumbnails/28.jpg)
After Consecutive Pruning with Ground Truth
![Page 29: Accurate Video Localization Based on Google Maps Street View Accurate Video Localization Based on Google Maps Street View](https://reader035.vdocument.in/reader035/viewer/2022081515/5a4d1b027f8b9ab059986e1f/html5/thumbnails/29.jpg)
Finding the optimal radius and threshold for each pruning step
Tested•Radii from 10 to 300 incremented by 10•Thresholds from 5 to 50 incremented by 5•Defined a frame as matched if it was within 70 meters of its ground truth•False positive = # incorrect frames after pruning/ #incorrect frames before pruning•True positive = # correct frames after pruning/ #correct frames before pruning
![Page 30: Accurate Video Localization Based on Google Maps Street View Accurate Video Localization Based on Google Maps Street View](https://reader035.vdocument.in/reader035/viewer/2022081515/5a4d1b027f8b9ab059986e1f/html5/thumbnails/30.jpg)
Test Results for Walking(10) VideoEach dot represents one test. Graph shows results for all 90,000 tests.
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Test Results for Walking(10) VideoEach dot represents one test. Graph shows results for all 90,000 tests.
![Page 32: Accurate Video Localization Based on Google Maps Street View Accurate Video Localization Based on Google Maps Street View](https://reader035.vdocument.in/reader035/viewer/2022081515/5a4d1b027f8b9ab059986e1f/html5/thumbnails/32.jpg)
Thank You!