Abstract
Metric constraints are known to be highly discriminative for many objects, but if training is limited to data captured from a particular 3-D sensor the quantity of training data may be severly limited. In this paper, we show how a crucial aspect of 3-D information–object and feature absolute size–can be added to models learned from commonly available online imagery, without use of any 3-D sensing or reconstruction at training time. Such models can be utilized at test time together with explicit 3-D sensing to perform robust search. Our model uses a “2.1D” local feature, which combines traditional appearance gradient statistics with an estimate of average absolute depth within the local window. We show how category size information can be obtained from online images by exploiting relatively unbiquitous metadata fields specifying camera intrinstics. We develop an efficient metric branch-and-bound algorithm for our search task, imposing 3-D size constraints as part of an optimal search for a set of features which indicate the presence of a category. Experiments on test scenes captured with a traditional stereo rig are shown, exploiting training data from from purely monocular sources with associated EXIF metadata.